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A novel 110 kV power line inspection robot and its climbing ability analysis
Yue X(岳湘); Wang HG(王洪光); Jiang Y(姜勇)
作者部门空间自动化技术研究室
关键词Power Line Inspection Robot Mechanism Design Climbing Ability Simulation
发表期刊International Journal of Advanced Robotic Systems
ISSN1729-8806
2017
卷号14期号:3页码:1-10
收录类别SCI ; EI
EI收录号20172303732479
WOS记录号WOS:000402623900001
产权排序1
摘要A novel mechanism for 110 kV power transmission line inspection is presented according to the requirements of inspection tasks and characteristics of obstacles on power transmission lines. Its configuration is introduced, and the navigation process of typical obstacles is planned. Then the kinematics equations and the workspace are derived. The grade ability of the power transmission line inspection robot is analysed and then improved by some measures. The quasi-static mode of the robot and the contact mechanics of the wheels are established. Adhesion force of the driving wheel can be improved by optimizing the structure of the wheel and the wheel load is reasonably distributed by planning the posture of the robot. So the climbing ability is ameliorated. The climbing ability of the different wheel structure and the different posture is simulated. Furthermore, the simulation of the navigation of the strain clamp and test of navigation of the jumper in the laboratory have been carried out. The simulation results demonstrate that the mechanism has such characteristics as compact construction, strong stability and excellent obstacle negotiation capability.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Robotics
关键词[WOS]TRANSMISSION-LINES
WOS研究方向Robotics
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/20505
专题空间自动化技术研究室
通讯作者Yue X(岳湘)
作者单位Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Yue X,Wang HG,Jiang Y. A novel 110 kV power line inspection robot and its climbing ability analysis[J]. International Journal of Advanced Robotic Systems,2017,14(3):1-10.
APA Yue X,Wang HG,&Jiang Y.(2017).A novel 110 kV power line inspection robot and its climbing ability analysis.International Journal of Advanced Robotic Systems,14(3),1-10.
MLA Yue X,et al."A novel 110 kV power line inspection robot and its climbing ability analysis".International Journal of Advanced Robotic Systems 14.3(2017):1-10.
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