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Research on a novel bionic robot mechanism for power transmission lines inspection
Xiao SY(肖时雨); Wang HG(王洪光)
Department空间自动化技术研究室
Conference Name2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
Conference DateDecember 3-7, 2016
Conference PlaceQingdao, China
Source PublicationProceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
PublisherIEEE
Publication PlaceNew York
2016
Pages1361-1366
Indexed ByEI ; CPCI(ISTP)
EI Accession number20171403534898
WOS IDWOS:000405724600229
Contribution Rank1
ISBN978-1-5090-4363-7
AbstractRobotics has yet become an advanced and reliable technology widely deployed in practical application of power transmission lines inspection for the purpose of stretching the reach of the lineman's arm and eyes. However, as in some hostile environments, excellent climbing performance and maneuverability remain as the greatest challenges and always can't be achieved simultaneously for the existing inspection robots. To overcome the problem, this paper presents a novel bionic robot mechanism on the basis of imitating human beings climb up the tree. After a brief introduction of environment features and motion requirements, the climbing motion of human beings is studied and the mechanical design of robot is accomplished. And then the kinematics equations are deduced, the force conditions are discussed and optimized. Furthermore, the motion sequences of negotiating two kind of typical obstacles are planned. Finally, some simulation has been carried out and the simulation results show that the mechanism can achieved the expected goals.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20192
Collection空间自动化技术研究室
Corresponding AuthorXiao SY(肖时雨)
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
Recommended Citation
GB/T 7714
Xiao SY,Wang HG. Research on a novel bionic robot mechanism for power transmission lines inspection[C]. New York:IEEE,2016:1361-1366.
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