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AApe-D: a Novel Power Transmission Line Maintenance Robot for Broken Strand Repair
Song YF(宋屹峰); Wang HG(王洪光); Jiang Y(姜勇); Ling L(凌烈)
作者部门空间自动化技术研究室
会议名称The 2nd International Conference on Applied Robotics for the Power Industry (CARPI 2012)
会议日期September 11-13, 2012
会议地点Zurich, Switzerland
会议主办者IEEE
会议录名称The 2nd International Conference on Applied Robotics for the Power Industry (CARPI 2012)
出版者IEEE
出版地Piscataway, USA
2012
页码108-113
收录类别EI
EI收录号20181304957164
产权排序1
ISBN号978-1-4673-4587-3
关键词Mobile Robot Mechanical Design Power Transmission Line Maintenance Inverse Kinematics
摘要The broken strand in the overhead ground wire (OGW), which is caused by thunder lighting, variation, etc., is a serious fault in power grid. The maintenance work, with high working intensity and risk, is generally carried out in the high voltage live line by specially trained workers. This paper presents the development of a novel mobile robot designed for the OGW broken strand repair in power grid. The mobile robot with passive joints can run along the OGW and cross counterweights and splicing sleeves. After approaching the fault location, with the specialized tools, the robot first returns the broken strand back to the original position and then fastens the broken strand tightly through specialized clamp. With the consideration of practical application, safety and performance on obstacle-crossing and maintenance, the robot prototype has been developed. A calculation method has been proposed for the resolution of inverse kinematics with force constraints. Robot experiments in laboratory have been carried out and the results are shown in this paper.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10166
专题空间自动化技术研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation
2.Graduate School of Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Song YF,Wang HG,Jiang Y,et al. AApe-D: a Novel Power Transmission Line Maintenance Robot for Broken Strand Repair[C]//IEEE. Piscataway, USA:IEEE,2012:108-113.
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