A multi-unit serial inspection robot for power transmission lines
A multi-unit serial inspection robot for power transmission lines
复制标题
输电线路多单元串联巡检机器人
DOI：
10.1108/ir-09-2018-0195
复制
发表时间：
2019-03
影响因子：
1.8
通讯作者：
Fang Lijin
中科院分区：
文献类型：
--
作者：
Tao Guanghong;Fang Lijin
目的
介绍了一种用于输电线路巡检的机器人机构。本设计的重点是机器人的越障能力，目标是使机器人不仅能在直线上移动，而且能在转向线上移动和越障。
设计/方法/方式
提出了一种新颖的四单元三臂串联机器人机构。每一种新型的俯仰运动单元都是基于单电机驱动的拉索结构。建立了机器人样机和障碍物环境，进行了机器人越障实验。
结果
新型单元机构和机器人样机已在实验室进行了测试。该样机在移动和跨越线路上的基本障碍物时具有越障能力。实验结果表明，该机器人机构满足越障要求。
实际影响
该新型机器人技术可用于电力公司输电线路的缺陷检测。
社会影响
降低了检测工作的强度和风险，降低了检测成本。
独创性/价值
创新的特点包括其架构，机动性和驾驶方法。
Purpose
The purpose of this paper is to introduce a robot mechanism designed for power transmission line inspection. The focus for this design is on obstacle-crossing ability with a goal to create a robot moving and crossing obstacle on not only the straight line but also the steering line.
Design/methodology/approach
A novel four-unit tri-arm serial robot mechanism is proposed. Every novel unit designed for pitching motion is based on parallelogram structure, which is driven by cables and only one motor. There is gripper-wheel compounding mechanism mounted on the arm. The prototype and obstacle environments are established, and the obstacle-crossing experiments are conducted.
Findings
The novel unit mechanism and robot prototype have been tested in the lab. The prototype has demonstrated the obstacle-crossing ability when moving and crossing fundamental obstacles on the line. The experimental results show that the robot mechanism meets the obstacle-crossing requirements.
Practical implications
The novel robot technology can be used for defect inspection of power transmission line by power companies.
Social implications
It stands to lower the intense and risk of inspection works and reduce the costs related to inspection.
Originality/value
Innovative features include its architecture, mobility and driving method.
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DOI：
10.1109/carpi.2010.5624428
发表时间：
2010-11
期刊：
2010 1st International Conference on Applied Robotics for the Power Industry
影响因子：
--
作者：
Wan HongGuang;Jiang Yong;L. Aihua;Fang Lijin;Ling Lie
通讯作者：
Wan HongGuang;Jiang Yong;L. Aihua;Fang Lijin;Ling Lie
DOI：
10.3311/ppme.7047
发表时间：
2013-09
期刊：
Periodica Polytechnica Mechanical Engineering
影响因子：
--
作者：
Z. Juhász;A. Zelei
通讯作者：
Z. Juhász;A. Zelei
DOI：
10.1109/icma.2006.257846
发表时间：
2006-06
期刊：
2006 International Conference on Mechatronics and Automation
影响因子：
--
作者：
Xinglong Zhu;Hongguang Wang;L. Fang;Mingyang Zhao;Jiping Zhou
通讯作者：
Xinglong Zhu;Hongguang Wang;L. Fang;Mingyang Zhao;Jiping Zhou
DOI：
10.1109/coase.2007.4341691
发表时间：
2007-10
期刊：
2007 IEEE International Conference on Automation Science and Engineering
影响因子：
--
作者：
Xiaohui Xiao;Gongping Wu;Sanping Li
通讯作者：
Xiaohui Xiao;Gongping Wu;Sanping Li
DOI：
10.1109/iros.1989.637939
发表时间：
1989-09
期刊：
Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications
影响因子：
--
作者：
S. Aoshima;T. Tsujimura;T. Yabuta
通讯作者：
S. Aoshima;T. Tsujimura;T. Yabuta