Research on mechanism configuration and dynamic characteristics for multi-split transmission line mobile robot

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Wei Jiang ◽  
Yating Shi ◽  
Dehua Zou ◽  
Hongwei Zhang ◽  
Hong Jun Li
Keyword(s):  
Mobile Robot ◽  
Transmission Line ◽  
Dynamic Model ◽  
Dynamic Characteristics ◽  
Transmission Lines ◽  
Dynamic Models ◽  
Working Environment ◽  
Joint Torque ◽  
Content Type ◽  
Working Space

Purpose The purpose of this paper is to achieve the optimal system design of a four-wheel mobile robot on transmission line maintenance, as the authors know transmission line mobile robot is a kind of special robot which runs on high-voltage cable to replace or assist manual power maintenance operation. In the process of live working, the manipulator, working end effector and the working environment are located in the narrow space and with heterogeneous shapes, the robot collision-free obstacle avoidance movement is the premise to complete the operation task. In the simultaneous operation, the mechanical properties between the manipulator effector and the operation object are the key to improve the operation reliability. These put forward higher requirements for the mechanical configuration and dynamic characteristics of the robot, and this is the purpose of the manuscript. Design/methodology/approach Based on the above, aiming at the task of tightening the tension clamp for the four-split transmission lines, the paper proposed a four-wheel mobile robot mechanism configuration and its terminal tool which can adapt to the walking and operation on multi-split transmission lines. In the study, the dynamic models of the rigid robot and flexible transmission line are established, respectively, and the dynamic model of rigid-flexible coupling system is established on this basis, the working space and dynamic characteristics of the robot have been simulated in ADAMS and MATLAB. Findings The research results show that the mechanical configuration of this robot can complete the tightening operation of the four-split tension clamp bolts and the motion of robot each joint meets the requirements of driving torque in the operation process, which avoids the operation failure of the robot system caused by the insufficient or excessive driving force of the robot joint torque. Originality/value Finally, the engineering practicability of the mechanical configuration and dynamic model proposed in the paper has been verified by the physical prototype. The originality value of the research is that it has double important theoretical significance and practical application value for the optimization of mechanical structure parameters and electrical control parameters of transmission line mobile robots.

Design and locomotion analysis of the tetrahedral mobile robot with only revolute joints (TMRR)

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Zhirui Wang ◽  
Yezhuo Li ◽  
Bo Su ◽  
Lei Jiang ◽  
Ziming Zhao ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Main Body ◽  
Dynamics Analysis ◽  
Content Type ◽  
Displacement Error ◽  
Working Space ◽  
Revolute Joints ◽  
Physical Prototype ◽  
Moving Direction ◽  
Rolling Locomotion

Purpose The purpose of this paper is to introduce a tetrahedral mobile robot with only revolute joints (TMRR). By using rotation actuators, the mechanism of the robot gains favorable working space and eliminates the engineering difficulties caused by the multilevel extension compared with liner actuators. Furthermore, the rolling locomotion is improved to reduce displacement error based on dynamics analysis. Design/methodology/approach The main body of deforming mechanism with a tetrahedral exterior shape is composed of four vertexes and six RRR chains. The mobile robot can achieve the rolling locomotion and reach any position on the ground by orderly driving the rotation actuators. The global kinematics of the mobile modes are analyzed. Dynamics analysis of the robot falling process is carried out during the rolling locomotion, and the rolling locomotion is improved by reducing the collision impulse along with the moving direction. Findings Based on global kinematics analysis of TMRR, the robot can realize the continuous mobility based on rolling gait planning. The main cause of robot displacement error and the corresponding improvement locomotion are gained through dynamic analysis. The results of the theoretical analysis are verified by experiments on a physical prototype. Originality/value The work introduced in this paper is a novel exploration of applying the mechanism with only revolute joints to the field of tetrahedral rolling robots. It is also an attempt to use the improved rolling locomotion making this kind of mobile robot more practical. Meanwhile, the reasonable engineering structure of the robot provides feasibility for load carrying.

A multi-unit serial inspection robot for power transmission lines

2019 ◽  
Vol 46 (2) ◽  
pp. 223-234 ◽  
Author(s):  
Guanghong Tao ◽  
Lijin Fang
Keyword(s):  
Transmission Line ◽  
Transmission Lines ◽  
Power Transmission ◽  
Power Transmission Line ◽  
The Novel ◽  
Power Transmission Lines ◽  
Obstacle Crossing ◽  
Content Type ◽  
Inspection Robot ◽  
Serial Robot

Purpose The purpose of this paper is to introduce a robot mechanism designed for power transmission line inspection. The focus for this design is on obstacle-crossing ability with a goal to create a robot moving and crossing obstacle on not only the straight line but also the steering line. Design/methodology/approach A novel four-unit tri-arm serial robot mechanism is proposed. Every novel unit designed for pitching motion is based on parallelogram structure, which is driven by cables and only one motor. There is gripper-wheel compounding mechanism mounted on the arm. The prototype and obstacle environments are established, and the obstacle-crossing experiments are conducted. Findings The novel unit mechanism and robot prototype have been tested in the lab. The prototype has demonstrated the obstacle-crossing ability when moving and crossing fundamental obstacles on the line. The experimental results show that the robot mechanism meets the obstacle-crossing requirements. Practical implications The novel robot technology can be used for defect inspection of power transmission line by power companies. Social implications It stands to lower the intense and risk of inspection works and reduce the costs related to inspection. Originality/value Innovative features include its architecture, mobility and driving method.

Effect of a transverse crack on the dynamic behaviours of a 3D rod-fastening rotor bearing system

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Nanshan Wang ◽  
Heng Liu ◽  
Yi Liu ◽  
Qidan Wang ◽  
Shemiao Qi ◽  
...  
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Dynamic Model ◽  
Dynamic Characteristics ◽  
3D Finite Element ◽  
Content Type ◽  
Rotor Bearing ◽  
Rod Fastening Rotor ◽  
3D Finite Element Method ◽  
Bearing System

Purpose This paper aims to examine the dynamic behaviours of a three-dimensional (3D) rod-fastening rotor bearing system (RFBS) with a crack in a fastening rod. Design/methodology/approach Based on the 3D finite element method model and stress analysis of a cracked RFBS, a 3D dynamic model of the RFBS with a crack in a fastening rod is established with considering the initial bending and stress redistribution caused by the crack. A combined numerical simulation technology is used to investigate the dynamic behaviours of the system. Findings The distribution of contact stress between the two disks will be not uniform, and the initial bending of the system will occur due to the presence of a crack. This will lead to the change of system stiffness and the dynamic behaviours such as vibration amplitude, and motion orbits will change significantly. Research limitations/implications A 3D finite element method dynamic model is proposed for the study of dynamic characteristics of complex combined rotor bearing system with cracks. Practical implications It is helpful and significant to master the dynamic behaviours of cracked RFBS. It is helpful to detect the presence of a crack of the rotor bearing system. Social implications Some of the losses caused by crack failure may be reduced. Originality/value The proposed 3D method can provide a useful reference for the study of dynamic characteristics of complex combined rotor bearing system with cracks. Peer review The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-05-2020-0189

Design of a Novel Locomotion Mechanism of Power Transmission Line Inspection Robot

2017 ◽  
Vol 863 ◽  
pp. 201-207 ◽  
Author(s):  
Xiang Yue ◽  
Hong Guang Wang ◽  
Yong Jiang
Keyword(s):  
Transmission Line ◽  
High Altitude ◽  
Transmission Lines ◽  
Power Transmission ◽  
Working Environment ◽  
Power Transmission Line ◽  
Motion Stability ◽  
Inspection Robot ◽  
Differential Mechanism ◽  
Navigating Process

The working environment of the inspection robot is a high altitude flexible cable environment. The robot navigating process must be stable and reliable. The robot mechanism grips the line though locomotion mechanism when navigating obstacles. The locomotion mechanism needs to have a strong clamping capacity and stability. According to the environmental characteristics of transmission lines, a novel locomotion mechanism of inspection robot is presented. The locomotion mechanism adopting differential mechanism can grip different diameter lines. The Tri-Step reducer design to ensure that the various model lines of rapid firmly clamped. The locomotion mechanism is introduced, and the gripper force is analyzed. The experiment results demonstrate that the mechanism has such characteristics as strong grip ability, good motion stability, and different diameter lines gripping capability.

Optimal capacity utilisation of transmission lines network in power flow operations: a survey

2019 ◽  
Vol 17 (5) ◽  
pp. 1056-1076
Author(s):  
Daniel Esene Okojie ◽  
Adisa Abdul-Ganiyu Jimoh ◽  
Yskandar Hamam ◽  
Adebayo Ademola Yusuff
Keyword(s):  
Transmission Line ◽  
Transmission Lines ◽  
Power Flow ◽  
Network Capacity ◽  
Mixed Integer ◽  
Reserve Capacity ◽  
Capacity Utilisation ◽  
Content Type ◽  
Optimal Capacity ◽  
Line Switching

Purpose This paper aims to survey the need for full capacity utilisation of transmission lines in power systems network operations. It proposes a review of the N-1 security criterion that does not ensure reliable dispatch of optimum power flow during outage contingency. The survey aims to enlarge the network capacity utilisation to rely on the entire transmission lines network operation. Design/methodology/approach The paper suggests transmission line switching (TLS) approach as a viable corrective mechanism for power dispatch. The TLS process is incorporated into a constraint programming language extension optimisation solver that selects the switchable line candidates as integer variables in the mixed integer programming problem. Findings The paper provides a practical awareness of reserve capacity in the lines that provide network security in outage contingency. At optimum power flow dispatch, the TLS is extended to optimal transmission line switching (OTLS) that indicates optimal capacity utilisation (OCU) of the available reserve capacity (ARC) in the network lines. Practical implications Computational efficiency influenced the extension of the OTLS to optimal transmission switching of power flow (OTSPF). The application of OTSPF helps reduce the use of flexible AC transmission systems (FACTS) and construction of new transmission lines.. Originality/value The paper surveys TLS efforts in network capacity utilisation. The suggested ARC fulfils the need for an index with which the dispatchable lines may be identified for the optimal capacity utilisation of transmission lines network.

CFD Based Modeling of Wave Propagation in Liquid Transmission Line Junctions

2013 ◽  
Author(s):  
Clemens Fries ◽  
Bernhard Manhartsgruber
Keyword(s):  
Wave Propagation ◽  
Transmission Line ◽  
Transmission Lines ◽  
Distribution System ◽  
Internal Combustion Engines ◽  
Dynamic Models ◽  
Fuel Injection ◽  
Simulation Models ◽  
Local Effects ◽  
Type Node

Wave propagation effects are of increasing importance in simulation models for fluid power applications due to rising demands for both the accuracy of predicted system responses as well as the range of interesting operating frequencies. Well documented examples can be found in technologies such as fuel injection for internal combustion engines or hydraulically driven punching machines. The distribution system for the pressurized fluid is predominantly made up of pipes and hoses as well as cylindrical bores in the housings of various components. These cylindrical geometries lend themselves conveniently for modeling as a network of elements with a one or two-dimensional spatial representation. The junctions between these elements, for instance a sharp elbow bend or a T-junction between three pipelines is very often idealized as a lossless Kirchhoff-type node. The present paper shows a comparison of transmission line modeling based on the well known frequency-dependent friction theory for transient laminar flow of a weakly compressible viscous fluid in transmission lines with a CFD model resolving the local effects occurring at a junction or intersection of cylindrical elements. Results are given for a 90 degree elbow under step excitation with the material parameters of a typical ISO 46 mineral oil based hydraulic fluid. These results can be used in order to assess the importance of including the usually neglected local effects at the junctions. In further work they will form the basis for reduced order dynamic models of transmission line junctions.

Velocity, acceleration and deceleration bounds for a time-optimal planner of a wheeled mobile robot

Robotica ◽  
2002 ◽  
Vol 20 (2) ◽  
pp. 181-193 ◽  
Author(s):  
Maria Prado ◽  
Antonio Simón ◽  
Francisco Ezquerro
Keyword(s):  
Mobile Robot ◽  
Dynamic Model ◽  
Dynamic Characteristics ◽  
Wheeled Mobile Robot ◽  
Ground Contact ◽  
Wheel Rolling ◽  
Boundary Functions ◽  
Time Optimal ◽  
Acceleration And Deceleration ◽  
Upper Boundary

Three single-valued upper boundary functions for velocity, acceleration and deceleration of a wheeled mobile robot (WMR) are defined as closed mathematical forms over its entire spatial path. The limits deal with mechanical, kinematic and dynamic characteristics of the robot and with task and operating matters. These boundary functions can be computed making use of any robot model, as complex as is needed, since it works offline.All studies are particularised for the robot RAM. A kinematic and a complete dynamic model of this WMR is built, with special attention on the study of wheel-ground contact efforts. For this purpose an empirical-analytical model of rubber wheel rolling is developed.

Modeling and validation of preload force effect on characteristics of a V-shaped linear ultrasonic motor

2021 ◽  
pp. 1045389X2110386
Author(s):  
Lifeng Zhou ◽  
Zhiyuan Yao ◽  
Shichao Dai ◽  
Ying He ◽  
Xiaoniu Li
Keyword(s):  
Dynamic Model ◽  
Dynamic Behavior ◽  
Analytical Model ◽  
Dynamic Characteristics ◽  
Contact Surface ◽  
Dynamic Models ◽  
Ultrasonic Motor ◽  
Precise Control ◽  
Linear Ultrasonic Motor ◽  
Contact Mechanism

The traditional dynamic models of linear ultrasonic motor (LUSM) do not consider the influences of the preload force and the roughness of the contact surface of stator/slider on the performance of the motor, which unable to effectively describe the dynamic behavior of the motor. In this paper, a dynamic model is established for a V-shaped LUSM considering the influence of the preload force and the roughness of the contact surface of stator/slider on the dynamic behavior of the motor. The contact mechanism of the stator/slider and the influence of preload force on the stator parameters are studied and analyzed. The effectiveness of the developed model is verified by comparing with the analytical model that ignored the effect of the preload force on the stator parameters. The experimental results shown that the developed model can accurately reflect the dynamic characteristics of the motor, and the model will be helpful for the function prediction and precise control of the motor.

scholarly journals Rural electrification using overhead HVDC transmission lines

2012 ◽  
Vol 23 (2) ◽  
pp. 56-64 ◽  
Author(s):  
Leon Chetty ◽  
Nelson Ijumba
Keyword(s):  
Transmission Line ◽  
Dynamic Characteristics ◽  
Transmission Lines ◽  
Rural Areas ◽  
Poverty Alleviation ◽  
Rural Electrification ◽  
Hvdc Transmission ◽  
Viable Solution ◽  
Hvdc Transmission Lines

One of mankind’s greatest modern challenges is poverty alleviation. The provision of electricity can greatly assist in this regard. The tapping of small amounts of power from an HVDC transmission line represents a solution to this problem especially in rural areas. This paper analyses the dynamic characteristics of a parallel-cascaded tapping station. The results obtained clearly indicate that the parallel-cascaded tapping station proves to be a viable solution to tapping small amounts of power from an HVDC transmission line.

A convolution neural network based semi-parametric dynamic model for industrial robot

2021 ◽  
pp. 095440622110398
Author(s):  
Chungang Zhuang ◽  
Yihui Yao ◽  
Yichao Shen ◽  
Zhenhua Xiong
Keyword(s):  
Neural Network ◽  
Dynamic Model ◽  
Dynamic Models ◽  
Industrial Robot ◽  
Friction Model ◽  
Rigid Body Dynamics ◽  
Convolution Neural Network ◽  
Joint Torque ◽  
Average Error ◽  
Proprioceptive Sensors

Robot dynamic model is widely applied to control, collision detection and motion planning. Accurate dynamic model can achieve better performance for the above applications. Traditional dynamic models have several limitations, such as the complex hypotheses for friction model and the requirement of additional joint torque sensors. This article constructs a convolution neural network (CNN) based semi-parametric dynamic (SPD) model by only using the motor encoder signals and motor currents. The SPD model not only contains the physically feasible parameters but also compensates the dynamic model by CNN. The parametric and non-parametric parts constitute the SPD model. A lightweight CNN is proposed to simultaneously ensure the accuracy and computational efficiency. To effectively train the CNN model, a dataset generation method, which expands the excitation trajectory and only uses a continuous trajectory to record data, is proposed. The CNN-based SPD model is verified on a 6-DoF laboratory-developed industrial robot only with the proprioceptive sensors. Compared with the traditional rigid body dynamics (RBD) model, the average error of the CNN-based SPD model is reduced by 9.23% in terms of the experimental results. Meanwhile, the proposed CNN-based method achieves better performance than other supervised methods.

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