Yanzhang Yao, Wei Wang, Yue Qiao, Zhihang He, Fusheng Liu, Xuelong Li, Xinxin Liu, Dehua Zou and Tong Zhang
The purpose of this paper is to describe the design and development of a novel series-parallel robot, which aims to climb on the transmission tower.
Abstract
Purpose
The purpose of this paper is to describe the design and development of a novel series-parallel robot, which aims to climb on the transmission tower.
Design methodology approach
This study introduces a hybrid robot, which consists of adsorption and two 3-degree of freedom (DOF) translation parallel legs connected by a body linkage. The DOF of the legs ensures that the robot can move on the climbing plane, also contribute to a compact design of the robot. An electromagnet is used to adsorb onto the transmission tower, simplifying the overall structure. Based on the robot design, this paper further defines its climbing gait and adopt the 6th B-spline curves for climbing trajectory planning under different working environments.
Findings
The developed prototype that implements the design of the robot, which was used in simulation and experiments, showing that the robot is capable of climbing in the test environments with the planned climbing gait.
Originality value
The hybrid robot is able to climb under varying degrees of inclinations and cross the obstacles, and the magnetic attraction can ensure stable climbing.
Details
Keywords
Zhihang He, Wei Wang, Huaping Ruan, Yanzhang Yao, Xuelong Li, Dehua Zou, Yu Yan and Shaochun Jia
Overhead high-voltage transmission line (HVTL) inspection robots are used to inspect the transmission lines and/or maintain the infrastructures of a power transmission grid. One…
Abstract
Purpose
Overhead high-voltage transmission line (HVTL) inspection robots are used to inspect the transmission lines and/or maintain the infrastructures of a power transmission grid. One of the most serious problems is that the load on the front wheel is much larger than that on the back one when the robot travels along a sloping earth wire. Thus, ongoing operation of the inspection robot mainly depends on the front wheel motor’s ability. This paper aims to extend continuous operation time of the HVTL inspection robots.
Design/methodology/approach
By introducing a traction force model, the authors have established a dynamic model of the robot with slip. The total load is evenly distributed to both wheels. According to the traction force model, the desired wheel slip is calculated to achieve the goal of load balance. A wheel slip controller was designed based on second-order sliding-mode control methodology.
Findings
This controller accomplishes the control objective, such that the actual wheel slip tracks the desired wheel slip. A simulation and experiment verify the feasibility of the load balance control system. These results indicate that the loads on both wheels are generally equal.
Originality/value
By balancing the loads on both wheels, the inspection robot can travel along the earth wire longer, improving its efficiency.