Development of suspending attitude self-balance mechanism for boom-orientated line inspection robot

Author

Shengyuan, Jiang ; Limin, Ren ; Xiangyan, Lv ; Jianyong, Li ; Hongzhang, Jiao

Author_Institution

Coll. of Mech. Eng., Beihua Univ., Jilin, China

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

2741

Lastpage

2745

Abstract

This paper presents compound obstacle-navigating mechanism and expounds its navigating principle which meets the need for line inspection robot to navigate tower accessories. It proposes novel pitch balance mechanism and yaw balance mechanism according to the variation of suspending state and centre of mass when the robot navigating obstacles. It verifies the validity and feasibility of the mechanism via theory analysis and experiments. It paves the way for line inspection robot to work on overhead cables reliably.

Keywords

collision avoidance; industrial robots; inspection; boom-orientated line inspection robot; compound obstacle-navigating mechanism; mass center variation; navigating principle; pitch balance mechanism; suspending attitude self-balance mechanism; suspending state variation; tower accessories navigation; yaw balance mechanism; Calibration; Error compensation; Inspection; Mathematical model; Orbital robotics; Robot kinematics; Robot programming; Robotic assembly; Robotics and automation; Service robots; Boom-orientated line inspection robot; balance mechanism; obstacle navigating; suspending attitude;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5244927

Filename

5244927