| 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)
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| Department | 空间自动化技术研究室 |
| Conference Name | 6th IEEE Conference on Industrial Electronics and Applications (ICIEA) |
| Conference Date | June 21-23, 2011 |
| Conference Place | Beijing, China |
| Author of Source | 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 |
| Source Publication | 2011 6TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA) |
| Publisher | IEEE |
| Publication Place | Piscataway, NJ, USA |
| 2011 | |
| Pages | 1632-1639 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20113614295717 |
| WOS ID | WOS:000296062500312 |
| Contribution Rank | 1 |
| ISBN | 978-1-4244-8755-4 |
| Keyword | An Inspection Robot Climbing Capability Power Transmission Line |
| Abstract | Climbing 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 | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/7726 |
| Collection | 空间自动化技术研究室 |
| Affiliation | 1.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. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| HYQW000989.pdf（652KB） | 开放获取 | License | View Application Full Text | |||
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