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.
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.
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.
The novel robot technology can be used for defect inspection of power transmission line by power companies.
It stands to lower the intense and risk of inspection works and reduce the costs related to inspection.
Innovative features include its architecture, mobility and driving method.
Funding: This work is supported by the National Natural Science Foundation of China (No. 51575092), and the Introduction Talent Scientific Research Foundation of Shenyang Aerospace University (No. 18YB62).
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