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Research on a novel maintenance robot for power transmission lines
Xiao SY(肖时雨); Wang HG(王洪光); Ling L(凌烈)
Department空间自动化技术研究室
Conference Name2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)
Conference DateOctober 11-13, 2016
Conference PlaceJinan, China
Source Publication2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)
PublisherIEEE
Publication PlaceNew York
2016
Pages1-6
Indexed ByEI ; CPCI(ISTP)
EI Accession number20165103131529
WOS IDWOS:000390590800031
Contribution Rank1
ISBN978-1-5090-3228-0
KeywordMobile Robot Slip Vibration Damper Power Transmission Line Maintenance Inverse Kinematics
AbstractThe slip vibration damper on power transmission lines (PTLs), which is caused by aeolian vibration, material aging and some outside interference, is a serious fault in power grid. The maintenance task, with high working intensity and risk, is generally completed on the high voltage live line by specially trained workers. This paper presents the development of a novel mobile robot aiming at retrieving slip vibration dampers in power grid. The mobile robot with an operation platform can adapt to uncertain postures of the vibration damper, though the posture varies in a random way within a certain range. After approaching the fault location, the robot first disassembles the connection clamps of the loose vibration damper with specialized tools, and then the vibration damper is transported to the original position and assembled by virtue of a lifter and a revolute sleeve barrel. With the consideration of practical application, safety and performance on maintenance, the robot prototype has been developed. The inverse kinematics with geometrical constraints has been deduced. Robot experiments on mock-up lines have been carried out and the results are shown in this paper. © 2016 IEEE.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19695
Collection空间自动化技术研究室
Corresponding AuthorXiao SY(肖时雨)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
Recommended Citation
GB/T 7714
Xiao SY,Wang HG,Ling L. Research on a novel maintenance robot for power transmission lines[C]. New York:IEEE,2016:1-6.
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