scholarly journals Investigation of Aerodynamic Stability of a Lightweight Dual-Arm Power Transmission Line Inspection Robot under the Influence of Wind

2019 ◽  
Vol 2019 ◽  
pp. 1-16 ◽  
Author(s):  
Ahmad Bala Alhassan ◽  
Xiaodong Zhang ◽  
Haiming Shen ◽  
Guo Jian ◽  
Haibo Xu ◽  
...  
Keyword(s):  
Power Transmission ◽  
Coupled System ◽  
Power Line ◽  
Wind Disturbance ◽  
Inspection Robot ◽  
Manual Inspection ◽  
Early Fault Detection ◽  
Dual Arm Robot ◽  
Inspection Robots ◽  
Dual Arm

To efficiently transmit electric power to consumers, the power lines need to be inspected routinely for early fault detection. Thus, power line inspection robots are designed to replace the tedious and dangerous manual inspection using linemen or helicopters. However, most of the existing inspection robots are heavy, which make them slow and prone to external wind disturbance. This paper developed a lightweight dual-arm robot and investigates its robustness to wind disturbance on a lab-scale power line structure. The dynamic equations of the robot are derived using the Lagrangian equation for appropriate motor selection. Also, the components of the robot are designed to ensure low drag coefficient to wind flow, and the mechanism of the wind force on the robot-line coupled system is presented. To study the real-time impact of the wind, a wind speed of 4.5 m/s representing one of the windiest cities in China is considered as a case study. The experimental results for different wind directions, namely, 0°, 45°, and 90°, show that the maximum vibration is 8% higher than the normal vibration of the system in a controlled environment without wind. The results demonstrate that there is little influence of the wind on the system; hence, the robot has been successfully designed and can be applied for power line inspection.

scholarly journals Walking Characteristics of Dual-Arm Inspection Robot with Flexible-Cable

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Yongle Wei ◽  
Jiashun Zhang ◽  
Lijin Fang
Keyword(s):  
Great Influence ◽  
Structure Design ◽  
Force Balance ◽  
Flexible Cable ◽  
Overhead Transmission Line ◽  
Inspection Robot ◽  
Prototype Test ◽  
Adams Software ◽  
Inspection Robots ◽  
Dual Arm

The overhead transmission line has a catenary shape, which has great influence on the dynamic characteristics of an inspection robot walking along the line and may even cause the walking-wheel to fall from the line. Compared with other similar inspection robots, the unique structure of the dual-arm inspection robot with flexible-cable is introduced. Taking the dual-arm inspection robot with flexible-cable walking along the uphill section of the line as an example, the force states of the robot when it works at acceleration, uniform speed, deceleration, and stopping were studied in detail. The corresponding force balance equations were established, and the walking-wheel torques in each working state were solved. The working states of the robot walking along the catenary shape line were simulated using ADAMS software. Simulation results show that the walking process of the robot is stable, the walking-wheels have good contact with the line, and the forces of two walking-wheels are almost balanced, which enables the robot to have good adaptability and climbing ability for the line. The prototype test that the robot walked along the line was carried out. The results of the simulation and prototype test are consistent with the theoretical analysis, so the rationality of robot structure design is verified. In the future, the navigation control and stability of the robot walking along the line will be researched, so that the robot can complete the patrol task in the real environment.

The climbing performance analysis of a robot for power line inspection with retractable double serial manipulators

2021 ◽  
pp. 095440622110549
Author(s):  
Xiaopeng Li ◽  
Dongyang Shang ◽  
Fanjie Li ◽  
Renzhen Chen
Keyword(s):  
Static Analysis ◽  
Power Line ◽  
Power Lines ◽  
Dynamical Equations ◽  
Obstacle Crossing ◽  
Serial Manipulators ◽  
Dynamic Evaluation ◽  
Evaluation Indexes ◽  
Inspection Robot ◽  
Inspection Robots

A power line inspection robot has to overcome many kinds of obstacles in inspection processes. The strain clamp is the obstacles difficult for inspection robots to overcome. The inspection robot needs to have a particular climbing ability to overcome the strain clamp. Therefore, the ability to climb power lines is the key point of the inspection robot’s design. An inspection robot with retractable double serial manipulators is proposed to improve the climbing and obstacle-crossing ability. Besides, this paper shows that the inspection robot is more suitable for climbing from static analysis and dynamic evaluation index. Firstly, the obstacle-crossing processes and structures of the inspection robot are introduced. Next, the static analysis is carried out when inspection robot climbs the power lines. The static analysis shows that the new inspection robot has a smaller driving torque. What’s more, the dynamic model of the inspection robot is established by Lagrange’s dynamical equations. By constructing the dynamic evaluation indexes, the inspection robot with retractable arms performs better dynamic characteristics. Finally, a prototype robot is carried out to cross obstacles and climb up power lines. The results show that the inspection robot can overcome different obstacles and has a good climbing performance.

Multi-objective Planning of Continuous Trajectory Taskfor an Omni-directional Mobile Dual-Arm Robot Based on Product Arbitration

ROBOT ◽  
2013 ◽  
Vol 35 (2) ◽  
pp. 178 ◽  
Author(s):  
Changwu QIU ◽  
Longmei WANG ◽  
Yanwen HUANG
Keyword(s):  
Multi Objective ◽  
Dual Arm Robot ◽  
Dual Arm

A Dual-Arm Robot for Collaborative Vision-Based Object Classification

2020 ◽  
Author(s):  
Ali Zahavi ◽  
Shahriar Najafi Haeri ◽  
Dhanushka Chamara Liyanage ◽  
Mart Tamre
Keyword(s):  
Object Classification ◽  
Dual Arm Robot ◽  
Dual Arm

Adaptive Hybrid Force/Position Control Using Neuro-Adaptive Observer for Dual-Arm Robot

2020 ◽  
Vol 13 (6) ◽  
pp. 313
Author(s):  
Luu Thi Hue ◽  
Nguyen Pham Thuc Anh ◽  
Duong Minh Duc
Keyword(s):  
Position Control ◽  
Adaptive Observer ◽  
Dual Arm Robot ◽  
Dual Arm
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