An experimental power pick-up mechanism for an electrically driven UAV.

An actively controlled mechanism for picking up electrical power from the conductors of an overhead line on a distribution network is described. The mechanism is part of a novel concept for inspecting power lines from an unmanned aerial vehicle (UAV). The background to the application is explained and an outline given of a small, ducted-fan rotorcraft which draws its power from the overhead line (OHL). A cranked linkage is proposed that maintains a firm sliding electrical contact with the OHL and compensates for the movement of the rotorcraft. The paper contains details of a kinematic analysis and 3D computer visualization of the mechanism´s working range. The design of an experimental pick-up mechanism is described and a computer simulation shows how impedance control can regulate the contact force with the OHL. Experimental results using an air vehicle simulator (AVS) are presented to verify the action of the pick-up mechanism.