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Research on the Influence of the Driving Wheel and Robot Posture on Climbing Capability of a Transmission Line Inspection Robot
Song YF(宋屹峰); Wang HG(王洪光); Ling L(凌烈)
Department空间自动化技术研究室
Conference Name6th IEEE Conference on Industrial Electronics and Applications (ICIEA)
Conference DateJune 21-23, 2011
Conference PlaceBeijing, China
Author of SourceIEEE, IEEE Ind Elect Soc (IES), IEEE Beijing Sect, Natl Nat Sci Fdn China, HiRain Technol, Beijing Techshine Technol Co Ltd, Beijing Smartmot Syst Technol Inc, Beijing Zhong Ke Fan Hua M&C Technol Co Ltd, IEEE Ind Elect (IE), Chapter, Beihang Univ (BUAA), PANSINO
Source Publication2011 6TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2011
Pages1632-1639
Indexed ByEI ; CPCI(ISTP)
EI Accession number20113614295717
WOS IDWOS:000296062500312
Contribution Rank1
ISBN978-1-4244-8755-4
KeywordAn Inspection Robot Climbing Capability Power Transmission Line
AbstractClimbing capability, as an important index to assess the performance of the power transmission line (PTL) inspection robot, directly concerns the robot practical application. In the former design, in order to enhance the climbing capability, the common method is to choose a drive motor with high torque and a transmission system with large reduction ratio. However, as a matter of fact, climbing capability of the inspection robots using the method mentioned above does not become very satisfied. This article analyzes the influence of posture and drive wheel on the climbing capacity, proposes a new method to improve climbing capability by changing the robot posture during climbing and optimum design for drive wheels, which could enhance the adhesion capability and balance the load, and finally validates the correctness of the proposed method by simulation and experiments. The research contents are also meaningful to some other mobile robots.
Language英语
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7726
Collection空间自动化技术研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, 110016, China
2.Graduate School, Chinese Academy of Sciences, Beijing, 100039, China
Recommended Citation
GB/T 7714
Song YF,Wang HG,Ling L. Research on the Influence of the Driving Wheel and Robot Posture on Climbing Capability of a Transmission Line Inspection Robot[C]//IEEE, IEEE Ind Elect Soc (IES), IEEE Beijing Sect, Natl Nat Sci Fdn China, HiRain Technol, Beijing Techshine Technol Co Ltd, Beijing Smartmot Syst Technol Inc, Beijing Zhong Ke Fan Hua M&C Technol Co Ltd, IEEE Ind Elect (IE), Chapter, Beihang Univ (BUAA), PANSINO. Piscataway, NJ, USA:IEEE,2011:1632-1639.
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