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A novel series-parallel hybrid robot for climbing transmission tower

Yanzhang Yao (Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China)
Wei Wang (Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China)
Yue Qiao (Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China)
Zhihang He (Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China)
Fusheng Liu (Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China)
Xuelong Li (Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China)
Xinxin Liu (Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, Hubei, China)
Dehua Zou (Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment (Robot), Changsha , Hunan, China)
Tong Zhang (State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 18 May 2021

Issue publication date: 19 August 2021

283

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.

Keywords

Acknowledgements

The work described in this paper was supported by Hunan Province Key Laboratory Open Fund of Intelligent Live Working Technology and Equipment (Robot) (2017KZD2001, 2019KZD3003), Hunan Province Intelligent Manufacturing Robot Innovation Platform Project (2017XK2102).

Citation

Yao, Y., Wang, W., Qiao, Y., He, Z., Liu, F., Li, X., Liu, X., Zou, D. and Zhang, T. (2021), "A novel series-parallel hybrid robot for climbing transmission tower", Industrial Robot, Vol. 48 No. 4, pp. 577-588. https://doi.org/10.1108/IR-01-2021-0011

Publisher

:

Emerald Publishing Limited

Copyright © 2021, Emerald Publishing Limited

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