Design of a mobile robot for the innovation in power line inspection and maintenance

Author

Jian, Jin ; Guoxian, Zhang ; Tingyu, Zhang

Author_Institution

Dept. of Mech. Autom., Shanghai Univ., Shanghai, China

fYear

2009

fDate

22-24 June 2009

Firstpage

444

Lastpage

449

Abstract

This paper presents a new design of mobile robot for power transmission line inspection and maintenance. The mechanical system of the robot is designed as a cable car with two multi-joint arms. Ground system and robot system constitute the whole robot control system. There are two locomotion modes for the robot navigating on the line: rolling with the wheel and crawling with the arms. Obstacle surmounting process for inspection robot is discussed in this paper also. The test results of the robot prototype in the laboratory validate the design and it is ready to undertake the further research for filed inspection tasks.

Keywords

inspection; maintenance engineering; mobile robots; power cables; robot kinematics; Design cable car; Obstacle surmounting process; ground system; mechanical system; mobile robot design; multi-joint arms; power transmission line inspection; power transmission line maintenance; robot control; Inspection; Manipulators; Mechanical cables; Mechanical systems; Mobile robots; Navigation; Power cables; Power transmission lines; Robot control; Technological innovation; Bio-design Technics; Biomimetics;

fLanguage

English

Publisher

ieee

Conference_Titel

Reconfigurable Mechanisms and Robots, 2009. ReMAR 2009. ASME/IFToMM International Conference on

Conference_Location

London

Print_ISBN

978-88-89007-37-2

Electronic_ISBN

978-1-876346-58-4

Type

conf

Filename

5173867