Pylon-Climber: a novel climbing assistive robot for pylon maintenance

2017 ◽  
Vol 44 (1) ◽  
pp. 38-48 ◽  
Author(s):  
Xiaolong Lu ◽  
Shiping Zhao ◽  
Deping Yu ◽  
Xiaoyu Liu
Keyword(s):  
Adhesion Force ◽  
The Novel ◽  
Climbing Robot ◽  
Design And Development ◽  
Content Type ◽  
Symmetrical Design ◽  
Assistive Robot ◽  
Force Closure ◽  
Inspection And Maintenance ◽  
Design Ideas

Purpose The purpose of this paper is to describe the design and development of “Pylon-Climber”, a pole climbing robot (PCR) for climbing along the corner columns of electricity pylon and assisting the electricians to complete maintenance tasks. Design/methodology/approach Introduces a PCR that is composed of a simple climbing mechanism and two novel grippers. The gripper consists of two angle-fixed V-blocks, and the size of V-block is variable. The clamping method of the angle bar meets the requirement of the force closure theorem. The whole design adopts symmetrical design ideas. Findings The developed prototype proved possibility of application of PCRs for inspection and maintenance of pylon. The novel gripper can provide enough adhesion force for climbing robot. Practical implications The robot is successfully tested on a test tower composed of different specification steel angles, oblique ledges and overlapping steel struts. Originality/value Design and development of a novel climbing assistive robot for pylon maintenance. The robot is able to climb along the column of electricity pylon and pass all obstacles. The gripper can reliably grasp the angle bar with different specification and overlapping steel struts from multiple directions.

Design and analysis of a climbing robot for pylon maintenance

2018 ◽  
Vol 45 (2) ◽  
pp. 206-219
Author(s):  
Xiaolong Lu ◽  
Shiping Zhao ◽  
Xiaoyu Liu ◽  
Yishu Wang
Keyword(s):  
Design Methodology ◽  
Adhesion Force ◽  
External Surface ◽  
Climbing Robot ◽  
Design And Development ◽  
New Approach ◽  
Content Type ◽  
Rotary Joint ◽  
Inspection And Maintenance ◽  
Practical Implications

Purpose The purpose of this paper is to describe the design and development of “Pylon-Climber II”, a 5-DOF biped climbing robot (degree of freedom – DOF) for moving on the external surface of a tower and assisting the electricians to complete some maintenance tasks. Design/methodology/approach The paper introduces a pole-climbing robot, which consists of a 5-DOF mechanical arm and two novel grippers. The gripper is composed of a two-finger clamping module and a retractable L-shaped hook module. The robot is symmetrical in structure, and the rotary joint for connecting two arms is driven by a linear drive mechanism. Findings The developed prototype proved a new approach for the inspection and maintenance of the electricity pylon. The gripper can reliably grasp the angle bars with different specifications by using combined movement of the two-finger clamping module and the retractable L-shaped hook module and provide sufficient adhesion force for the Pylon-Climber II. Practical implications The clamping experiments of the gripper and the climbing experiments of the robot were carried out on a test tower composed of some angle bars with different specification. Originality/value This paper includes the design and development of a 5-DOF biped climbing robot for electricity pylon maintenance. The climbing robot can move on the external surface of the electric power tower through grasping the angle bar alternatively. The gripper that is composed of a two-finger gripping module and a retractable L-shaped hook module is very compact and can provide reliable adhesion force for the climbing robot.

Power line robotic device for overhead line inspection and maintenance

2017 ◽  
Vol 44 (1) ◽  
pp. 75-84 ◽  
Author(s):  
Rebecca Miller ◽  
Farshid Abbasi ◽  
Javad Mohammadpour
Keyword(s):  
Asset Management ◽  
Video Camera ◽  
Power Line ◽  
The Novel ◽  
Robotic Device ◽  
Test Bed ◽  
Content Type ◽  
Inspection And Maintenance ◽  
And Control ◽  
The Impact

Purpose This paper aims to focus on the design and testing of a robotic device for power line inspection and cleaning. The focus for this design is on simplicity and compactness with a goal to create a device for linemen and other power line workers to keep in their toolbox. Design/methodology/approach The prototype uses V-grooved wheels to grip the line and can pass obstacles such as splices. It is equipped with a video camera to aid in line inspection and a scrub brush to clean debris from the line. The operator controls the device remotely from a laptop through a wireless connection. The novel way in which this device moves down the power line allows compactness while still being able to overcome in-line obstacles up to a certain size. Findings The device has been tested on a test bed in the lab. The device is able to move down a line and expand to overcome in-line obstacles as it travels. Testing proved the mechanical feasibility and revealed new requirements for a future prototype. Practical implications The device can be used for power line asset management by power companies; line inspection can lead to preventative repairs, leading to less downtime. Social implications It stands to reduce costs related to maintenance and mitigates down time and emergency repairs. Originality/value Innovative features include its size, mobility and control methods. Overall, the impact of this work extends to the utility maintenance sector and beyond.

Development of climbing robot for steel bridge inspection

2016 ◽  
Vol 43 (4) ◽  
pp. 429-447 ◽  
Author(s):  
Rui Wang ◽  
Youhei Kawamura
Keyword(s):  
Adhesion Force ◽  
Steel Bridge ◽  
Climbing Robot ◽  
Bridge Inspection ◽  
Content Type ◽  
The Past ◽  
Compact Size ◽  
Compliant Joint ◽  
Vertical Walls

Purpose The purpose of this paper is to present a design of climbing robot with magnetic wheels which can move on the surface of steel bridge. The locomotion concept is based on adapted lightweight magnetic wheel units with relatively high attractive force and friction force. Design/methodology/approach The robot has the main advantages of being compact (352 × – 215 × – 155 mm), lightweight (2.3 kg without battery) and simple mechanical structure. It is not only able to climb vertical walls and follow circumferential paths, but also able to pass complex obstacles such as bolts, steps, convex and concave corners with almost any inclination regarding gravity. By using a servo as a compliant joint, the wheel base can be changed to enable the robot to overcome convex corners. Findings The experiment results show that the climbing robot has a good performance on locomotion, and it is successful in negotiating the complex obstacles. On the other hand, the limitations in locomotion of the robot are also presented. Originality/value Compared with the past researches, the robot shows good performance on overcoming complex obstacles such as concave corners, convex corners, bolts and steps on the steel bridge. Magnetic wheel with the characterization of compact size and lightweight is able to provide bigger adhesion force and friction coefficient.

Dynamic Modeling and Simulation of a Novel Wall-Climbing Robot

2013 ◽  
Vol 336-338 ◽  
pp. 1180-1185 ◽  
Author(s):  
Wei Guang Dong ◽  
Hong Guang Wang ◽  
Yong Jiang
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Adhesion Force ◽  
Great Influence ◽  
The Novel ◽  
Climbing Robot ◽  
Motion Direction ◽  
Inclined Surfaces ◽  
Hybrid Locomotion

The dynamic modeling and simulation of a novel wall-climbing robot is presented. For the novel biped-wheel hybrid locomotion mechanism of the robot, its locomotion modes and typical state of motion are analyzed. Based on the description of the robots pose, the dynamic model for two typical states of motion, point turning in a flat surface and transition between two intersecting surfaces, is established. The equation for calculating adhesion force when the robot moves on arbitrary inclined surfaces is derived from the dynamic model. Simulations for the adhesion force are implemented with three typical examples. The results show that the tilt angle of the attachment surface and the motion direction of the robot have great influence on the adhesion force.

Analytical Optimization of a New Adjustable Magnetic Field Adhesion Mechanism

2013 ◽  
Vol 336-338 ◽  
pp. 1129-1133
Author(s):  
Yong Chen ◽  
Chang Ming Wang ◽  
Jian Dong Bao
Keyword(s):  
Magnetic Field ◽  
Magnetic Force ◽  
Adhesion Force ◽  
Variation Method ◽  
The Novel ◽  
Climbing Robot ◽  
Adhesion Mechanism ◽  
Center Axis ◽  
Adhesion Performance ◽  
The Magnetic Field

A novel adjustable magnetic field adhesion mechanism for use in wall-climbing robot is designed. The magnetic field in air gap can be switchable by rotating the center axis of adhesion mechanism so that the magnetic adhesion force is variable and it is conveniently for robot adhesion and detachment from the wall. The influence of structure parameters on adhesion performance and the optimal dimensions of mechanism are obtained by parameter variation method for best performing design. The novel optimal mechanism has been dimensioned and its magnetic force is measured. The results are compared to the simulation and it is shown that it is one of the best performing of magnet designs published for wall climbing robot adhesion mechanism.

Tele-operated propeller-type climbing robot for inspection of petrochemical vessels

2017 ◽  
Vol 44 (2) ◽  
pp. 166-177 ◽  
Author(s):  
Mohamed Gouda Alkalla ◽  
Mohamed A. Fanni ◽  
Abdelfatah M. Mohamed ◽  
Shuji Hashimoto
Keyword(s):  
Wall Thickness ◽  
Adhesion Force ◽  
Experimental Tests ◽  
Ferromagnetic Material ◽  
Climbing Robot ◽  
Content Type ◽  
Actuation System ◽  
Hybrid Actuation ◽  
Thrust Forces ◽  
Practical Implications

Purpose The purpose of this paper is to propose a new propeller-type climbing robot called EJBot for climbing various types of structures that include significant obstacles, besides inspection of industrial vessels made of various materials, including non-ferromagnetic material. The inspection includes capturing images for important spots and measuring the wall thickness. Design/methodology/approach The design mainly consists of two coaxial upturned propellers mounted on a mobile robot with four standard wheels. A new hybrid actuation system that consists of propeller thrust forces and standard wheel torques is considered as the adhesion system for this climbing robot. This system generates the required adhesion force to support the robot on the climbed surfaces. Dynamic simulation using ADAMS is performed and ensures the success of this idea. Findings Experimental tests to check the EJBot’s capabilities of climbing different surfaces, such as smooth, rough, flat and cylindrical surfaces like the real vessel, are successfully carried out. In addition, the robot stops accurately on the climbed surface at any desired location for inspection purposes, and it overcomes significant obstacles up to 40 mm. Practical implications This proposed climbing robot is needed for petrochemical and liquid gas vessels, where a regular inspection of the welds and the wall thickness is required. The interaction between the human and these vessels is dangerous and not healthy due to the harmful environment inside these vessels. Originality/value This robot utilizes propeller thrusts and wheel torques simultaneously to generate adhesion and traction forces. Therefore, a versatile robot able to climb different kinds of structures is obtained.

Design of a wheeled wall climbing robot based on the performance of bio-inspired dry adhesive material

Robotica ◽  
2021 ◽  
pp. 1-14
Author(s):  
Hongkai Li ◽  
Xianfei Sun ◽  
Zishuo Chen ◽  
Lei Zhang ◽  
Hongchao Wang ◽  
...  
Keyword(s):  
Flat Surface ◽  
Thrust Force ◽  
Adhesion Force ◽  
Structure Design ◽  
Design Parameters ◽  
Climbing Robot ◽  
Adhesive Material ◽  
Ducted Fan ◽  
The Stability ◽  
Belt System

Abstract Inspired by gecko’s adhesive feet, a wheeled wall climbing robot is designed in this paper with the synchronized gears and belt system acting as the wheels by considering both motion efficiency and adhesive capability. Adhesion of wheels is obtained by the bio-inspired adhesive material wrapping on the outer surface of wheels. A ducted fan mounted on the back of the robot supplies thrust force for the adhesive material to generate normal and shear adhesion force whilemoving on vertical surfaces. Experimental verification of robot climbing on vertical flat surface was carried out. The stability and the effect of structure design parameters were analyzed.

Fuzzy risk assessment for electro-optical target tracker

2016 ◽  
Vol 33 (6) ◽  
pp. 830-851 ◽  
Author(s):  
Soumen Kumar Roy ◽  
A K Sarkar ◽  
Biswajit Mahanty
Keyword(s):  
Failure Mode ◽  
Failure Modes ◽  
Linear Equations ◽  
Mode Analysis ◽  
Failure Behavior ◽  
Membership Functions ◽  
Design And Development ◽  
Effect Analysis ◽  
Content Type ◽  
Criticality Analysis

Purpose – The purpose of this paper is to evolve a guideline for scientists and development engineers to the failure behavior of electro-optical target tracker system (EOTTS) using fuzzy methodology leading to success of short-range homing guided missile (SRHGM) in which this critical subsystems is exploited. Design/methodology/approach – Technology index (TI) and fuzzy failure mode effect analysis (FMEA) are used to build an integrated framework to facilitate the system technology assessment and failure modes. Failure mode analysis is carried out for the system using data gathered from technical experts involved in design and realization of the EOTTS. In order to circumvent the limitations of the traditional failure mode effects and criticality analysis (FMECA), fuzzy FMCEA is adopted for the prioritization of the risks. FMEA parameters – severity, occurrence and detection are fuzzifed with suitable membership functions. These membership functions are used to define failure modes. Open source linear programming solver is used to solve linear equations. Findings – It is found that EOTTS has the highest TI among the major technologies used in the SRHGM. Fuzzy risk priority numbers (FRPN) for all important failure modes of the EOTTS are calculated and the failure modes are ranked to arrive at important monitoring points during design and development of the weapon system. Originality/value – This paper integrates the use of TI, fuzzy logic and experts’ database with FMEA toward assisting the scientists and engineers while conducting failure mode and effect analysis to prioritize failures toward taking corrective measure during the design and development of EOTTS.

Responses of Arab teachers of Hebrew in Israel to an Israeli novel on Jewish-Arab relations

2019 ◽  
Vol 35 (2) ◽  
pp. 1-17
Author(s):  
Shai Rudin
Keyword(s):  
Boarding School ◽  
Educational Systems ◽  
The Novel ◽  
Content Type ◽  
Reading Experience ◽  
Political Views ◽  
Arab Students ◽  
Complex Integration ◽  
Education College ◽  
Arab Sector

Purpose This study aims to examine the responses and perceptions of Israeli Arab teachers toward multicultural and educational issues concerning Jewish–Arab relations. Design/methodology/approach This study is a qualitative research. The study included 44 novice Arab teachers, who teach Hebrew in the Arab sector and are currently studying toward their masters’ degree at a teacher education college in northern Israel. The teachers were asked to read the novel Nadia by Galila Ron Feder–Amit. Published in 1985, the novel describes the complex integration of Nadia, an Arab village girl, into a Jewish boarding school, and it is narrated in first person. After having read the novel, the teachers were requested to answer the writing task, which addressed the character of the protagonist, the issue of teaching the novel in the Jewish and Arabic educational systems and the anticipated responses of Jewish and Arab students to the novel. Findings Phenomenological analysis of the teachers’ responses found that the reading experience was complex and resulted in a variety of responses toward the protagonist. Some were based on identification and appreciation, while others on criticism and judgment of the heroine’s restraint vis-a-vis the racism that she was experiencing. However, most of the teachers demonstrated moral courage and thought that the novel should be taught, as they viewed it as a bridge leading to understanding between the two nations. The teachers anticipated conflicting responses of Jewish and Arab students to the novel, according to the students’ political views and values. Practical implications These findings indicate that the educational system should include political texts relating to the Jewish–Arab schism, especially texts that voice the Palestinian narrative. This view differs from the current situation in both sectors, whereby the tendency is to avoid political texts while ignoring the Palestinian narrative. Originality/value The study shows that the reading experience of a political novel affords various and often contrasting responses with the teachers facing the didactic challenges. The teachers who participated in the study anticipated complexity of the reading and teaching process, yet were not deterred by it, particularly in view of the novel’s messages – striving to understand the “other” and to bridge a discourse between the nations.

scholarly journals Novel Tandem Biotransformation Process for the Biosynthesis of a Novel Compound, 4-(2,3,5,6-Tetramethylpyrazine-1)-4′-Demethylepipodophyllotoxin

2011 ◽  
Vol 77 (9) ◽  
pp. 3023-3034 ◽  
Author(s):  
Ya-Jie Tang ◽  
Wei Zhao ◽  
Hong-Mei Li
Keyword(s):  
Cell Line ◽  
Alternaria Alternata ◽  
Water Solubility ◽  
Tumor Cell Line ◽  
Gibberella Fujikuroi ◽  
Hydroxyl Group ◽  
Epithelial Cell Line ◽  
The Novel ◽  
Content Type ◽  
Biotransformation Process

ABSTRACTAccording to the structure of podophyllotoxin and its structure-function relationship, a novel tandem biotransformation process was developed for the directional modification of the podophyllotoxin structure to directionally synthesize a novel compound, 4-(2,3,5,6-tetramethylpyrazine-1)-4′-demethylepipodophyllotoxin (4-TMP-DMEP). In this novel tandem biotransformation process, the starting substrate of podophyllotoxin was biotransformed into 4′-demethylepipodophyllotoxin (product 1) with the demethylation of the methoxyl group at the 4′ position byGibberella fujikuroiSH-f13, which was screened out from Shennongjia prime forest humus soil (Hubei, China). 4′-Demethylepipodophyllotoxin (product 1) was then biotransformed into 4′-demethylpodophyllotoxone (product 2) with the oxidation of the hydroxyl group at the 4 position byAlternaria alternataS-f6, which was screened out from the gatheredDysosma versipellisplants in the Wuhan Botanical Garden, Chinese Academy of Sciences. Finally, 4′-demethylpodophyllotoxone (product 2) and ligustrazine were linked with a transamination reaction to synthesize the target product 4-TMP-DMEP (product 3) byAlternaria alternataS-f6. Compared with podophyllotoxin (i.e., a 50% effective concentration [EC50] of 529 μM), the EC50of 4-TMP-DMEP against the tumor cell line BGC-823 (i.e., 0.11 μM) was significantly reduced by 5,199 times. Simultaneously, the EC50of 4-TMP-DMEP against the normal human proximal tubular epithelial cell line HK-2 (i.e., 0.40 μM) was 66 times higher than that of podophyllotoxin (i.e., 0.006 μM). Furthermore, compared with podophyllotoxin (i.e., logP= 0.34), the water solubility of 4-TMP-DMEP (i.e., logP= 0.66) was significantly enhanced by 94%. For the first time, the novel compound 4-TMP-DMEP with superior antitumor activity was directionally synthesized from podophyllotoxin by the novel tandem biotransformation process developed in this work.

Sign in / Sign up

Export Citation Format

Share Document