Design of An Inspection Robot System with Hybrid Operation Modes for Power Transmission Lines | |
Wang,Han1,3; Li,En1; Yang,Guodong1; Guo,Rui2 | |
2019-08 | |
会议日期 | 4-7 Aug. 2019 |
会议地点 | Tianjin, China |
关键词 | Power line inspection robot Mechanism design Mechanical analysis Simulation analysis Multi-mode switching |
DOI | 10.1109/ICMA.2019.8816540 |
英文摘要 | In this paper, we design a kind of transmission line inspection hybrid robot with a novel mechanical structure, taking the advantages of climbing robots and unmanned aerial vehicle(UAV). The hybrid robot has amphibious functions of on-wire crawling and flight. When encountering obstacles, the hybrid robot takes off directly to fly over them and it runs on the ground wire by rolling on wheels in the absence of obstacles. And then we verify its on-wire-balance by mechanical analysis. In order to achieve a tradeoff between the selection of the lightweight material and operational reliability of the robot, the finite element static structure simulation and dynamic simulation are carried out for important parts of the robot. In addition, a ROS-based robot control system has been designed and a multi-mode switching control strategy has been proposed. |
会议录出版者 | IEEE |
语种 | 英语 |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/44839] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
通讯作者 | Li,En |
作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.State Grid Shandong Elect Power Co, Jinan, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
推荐引用方式 GB/T 7714 | Wang,Han,Li,En,Yang,Guodong,et al. Design of An Inspection Robot System with Hybrid Operation Modes for Power Transmission Lines[C]. 见:. Tianjin, China. 4-7 Aug. 2019. |
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