A novel 110 kV power line inspection robot and its climbing ability analysis

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	A novel 110 kV power line inspection robot and its climbing ability analysis
	Yue X(岳湘); Jiang Y(姜勇); Wang HG(王洪光)
刊名	International Journal of Advanced Robotic Systems
	2017
卷号	14 期号:3 页码:1-10
关键词	Power line inspection robot mechanism design climbing ability simulation
ISSN号	1729-8806
通讯作者	Yue X(岳湘)
产权排序	1
中文摘要	A novel mechanism for 110 kV power transmission line inspection is presented according to the requirements of inspection tasks and characteristics of obstacles on power transmission lines. Its configuration is introduced, and the navigation process of typical obstacles is planned. Then the kinematics equations and the workspace are derived. The grade ability of the power transmission line inspection robot is analysed and then improved by some measures. The quasi-static mode of the robot and the contact mechanics of the wheels are established. Adhesion force of the driving wheel can be improved by optimizing the structure of the wheel and the wheel load is reasonably distributed by planning the posture of the robot. So the climbing ability is ameliorated. The climbing ability of the different wheel structure and the different posture is simulated. Furthermore, the simulation of the navigation of the strain clamp and test of navigation of the jumper in the laboratory have been carried out. The simulation results demonstrate that the mechanism has such characteristics as compact construction, strong stability and excellent obstacle negotiation capability.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Robotics
研究领域[WOS]	Robotics
关键词[WOS]	TRANSMISSION-LINES
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000402623900001
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/20505]
专题	沈阳自动化研究所_空间自动化技术研究室
作者单位	Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式 GB/T 7714	Yue X,Jiang Y,Wang HG. A novel 110 kV power line inspection robot and its climbing ability analysis[J]. International Journal of Advanced Robotic Systems,2017,14(3):1-10.
APA	Yue X,Jiang Y,&Wang HG.(2017).A novel 110 kV power line inspection robot and its climbing ability analysis.International Journal of Advanced Robotic Systems,14(3),1-10.
MLA	Yue X,et al."A novel 110 kV power line inspection robot and its climbing ability analysis".International Journal of Advanced Robotic Systems 14.3(2017):1-10.