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Article
Publication date: 7 May 2019

Guanghong Tao and Lijin Fang

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…

338

Abstract

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.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 2
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 4 June 2021

Suyang Yu, Changlong Ye, Guanghong Tao, Jian Ding and Yinchao Wang

The rope-climbing robot that can cling to a rope for locomotion has been a popular piece of equipment for some overhead applications due to its high flexibility. In view of…

209

Abstract

Purpose

The rope-climbing robot that can cling to a rope for locomotion has been a popular piece of equipment for some overhead applications due to its high flexibility. In view of problems left by existing rope-climbing robots, this paper aims to propose a new-style rope-climbing robot named Finger-wheeled mechanism robot (FWMR)-II to improve their performance.

Design/methodology/approach

FWMR-II adopts a modular and link-type mechanical structure. With the finger-wheeled mechanism (FWM) module, the robot can achieve smooth and quick locomotion and good capability of obstacle-crossing on the rope and with the link module based on a spatial parallel mechanism, the robot adaptability for rope environments is improved further. The kinematic models that can present configurations of the FWM module and link module of the robot are established and for typical states of the obstacle-crossing process, the geometric definitions and constraints that can present the robot position relative to the rope are established. The simulation is performed with the optimization calculating method to obtain the robot adaptability for rope environments and the experiment is also conducted with the developed prototype to verify the robot performance.

Findings

From the simulation results, the adaptability for rope environments of FWMR-II are obtained and the advantage of FWMR-II compared with FWMR-I is also proved. The experiment results give a further verification for the robot design and analysis work.

Practical implications

The robot proposed in this study can be used for inspection of power transmission lines, inspection and delivery in mine and some other overhead applications.

Originality/value

An ingenious modular link-type robot is proposed to improve existing rope-climbing robots and the method established in this study is worthy of reference for obstacle-crossing analysis of other rope-climbing robots.

Details

Industrial Robot: the international journal of robotics research and application, vol. 48 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 5 December 2023

Zhirui Zhao, Lina Hao, Guanghong Tao, Hongjun Liu and Lihua Shen

This study discusses the tracking trajectory issue of the exoskeleton under the bounded disturbance and designs an useful tracking trajectory control method to solve it. By using…

157

Abstract

Purpose

This study discusses the tracking trajectory issue of the exoskeleton under the bounded disturbance and designs an useful tracking trajectory control method to solve it. By using the proposed control method, the tracking error can be successfully convergence to the assigned boundary. Meanwhile, the chattering effect caused by the actuators is already reduced, and the tracking performance of the pneumatic artificial muscles (PAMs) elbow exoskeleton is improved effectively.

Design/methodology/approach

A prescribed performance sliding mode control method was developed in this study to fulfill the joint position tracking trajectory task on the elbow exoskeleton driven by two PAMs. In terms of the control structure, a dynamic model was built by conforming to the adaptive law to compensate for the time variety and uncertainty exhibited by the system. Subsequently, a super-twisting algorithm-based second-order sliding mode control method was subjected to the exoskeleton under the boundedness of external disturbance. Moreover, the prescribed performance control method exhibits a smooth prescribed function with an error transformation function to ensure the tracking error can be finally convergent to the pre-designed requirement.

Findings

From the theoretical perspective, the stability of the control method was verified through Lyapunov synthesis. On that basis, the tracking performance of the proposed control method was confirmed through the simulation and the manikin model experiment.

Originality/value

As revealed by the results of this study, the proposed control method sufficiently applies to the PAMs elbow exoskeleton for tracking trajectory, which means it has potential application in the actual robot-assisted passive rehabilitation tasks.

Details

Industrial Robot: the international journal of robotics research and application, vol. 51 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

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Article
Publication date: 18 October 2019

Congcong Liu, Chong Wang, Keping Ye, Yun Bai, Xiaobo Yu, Chunbao Li and Guanghong Zhou

The purpose of this paper is to elucidate the influences of the animal fat and fatty acid type on the formation of polycyclic aromatic hydrocarbons (PAHs) and to propose a…

293

Abstract

Purpose

The purpose of this paper is to elucidate the influences of the animal fat and fatty acid type on the formation of polycyclic aromatic hydrocarbons (PAHs) and to propose a formation mechanism of PAHs in fat during electric roasting, which is a method of non-direct-contact-flame heating.

Design/methodology/approach

The effects of animal fats and model fat on the formation of PAHs were valued on the basis of the ultra high-performance liquid chromatography data. The corresponding products of the FAME pyrolysis were detected by TG-FTIR. The proposal formation mechanism of PAHs was based on the summary of the literature.

Findings

Contrary to the International Agency for Research on Cancer, DF had higher risk with 280.53 ng/g of concentration after being roasted than the others animal fats of red meat in terms of PAHs formation. This research also ensured the importance of fat on PAHs formation, the concentration of PAHs in pure fats was higher after being electric roasted than that in meat patties and juice which made from corresponding animal fat. What is more, during pure animal fats and meat products being processed, less PAHs formed in the fat with lower extent of unsaturation and lower content of linolenate. In the same way, methyl linolenate demonstrated the significant increasement to PAHs formation compared to the other fatty acids. And, the number of carbon atom and the extent of unsaturation in fatty acid affects the formation of PAHs during roasting. The detection of alkene and alkane allows to propose a formation mechanism of PAHs during model fat being heated. Further study is required to elucidate the confirm moleculars during the formation of PAHs.

Originality/value

This work studied the effect of the carbon atom number and the unsaturation extent of fats and model fats on the formation of PAHs. This work also assure the important of alkene and alkane on the pyrolysis of model fats. This study also researched the formation and distribution of PAHs in pure fats and meat products after being heated.

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