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This paper aims to design a walking-clamp mechanism for the inspection robot of transmission line. The focus for this design is on climbing ability and obstacle-crossing ability with a goal to create a novel walking-clamp mechanism that can clamp not only the line but also the obstacle.

A novel clamping jaw used in the walking-clamp mechanism is proposed. The clamping wheel is mounted on the lower end of clamping jaw to reduce the friction between the clamping jaw and the line, and the top end of clamping jaw is designed as a hook structure to clamp the obstacle. The working principle and force states of the walking-clamp mechanism clamping the line and obstacle are analyzed, and the simulation and prototype experiments are carried out.

The experimental results show that this mechanism can clamp the obstacle steadily, and the clamping forces of the front and back pairs of clamping jaws are almost equal during robot walking along the catenary-shaped line. It is in agreement with the theoretical analysis, and it demonstrates that this mechanism can meet the working requirements of inspection robot.

This novel mechanism can be used for inspection robot of transmission line, and it is beneficial for robot to complete long-distance inspection works.

It stands to reduce costs related to inspection and improve the inspection efficiency.

Innovative features include its structure, working principle and force states.

In the majority of devices for measuring the resistance of wires or cables, the supplying voltage is applied via some clamping arrangement. Thus, current enters the bundle of conductors through the side surface of the outside wire. The purpose of this project was to establish the distance from the supplying point after which the current may be considered to be uniform and normal to the cable cross‐section.

When current passes from one wire to another, the crucial parameter is the resistance of the contact region. The paper presents a method by which this region can be identified and relevant resistance measured. A comprehensive simulation was conducted for different types of wires and cables to assess the influence of design parameters on the current distribution and uniformity.

The distance from the current entry point (the clamps) to the position where current density may be considered uniform has been established. This has facilitated estimating recommended positions of voltage taps with reference to current taps.

The look‐up tables and graphs allow adjustments to the position of the taps and/or correction of the measured results.

The original contribution of this paper is in the way the contact region is identified where current passes from one wire to another. Original relationships have been proposed showing the relationship between contact resistance and the design parameters of the cable and mechanical stress.

The reduction in IC package lead pitches in surface mount solder assembly and the current high emphasis on quality and reliability of printed circuit assemblies have created a requirement for microanalysis of fine pitch solder joints in manufacturing situations. Of particular interest are metallographic analysis, detection of solder joint defects and mechanical strength testing of solder joints. Much has been published in the literature on the results of such evaluations in specific applications but little has been available on procedures for use in the microanalysis itself, particularly for fine pitch solder joints. Detailed procedures for fine pitch solder joint microanalysis, which the authors have verified down to 0.5 mm (0.02 in.) lead pitches, are presented. In particular, the authors present procedures for metallographic examination of tin‐lead and tin‐lead‐silver solder joints. In addition, test parameters are given for a repeatable technique of fine pitch solder joint mechanical strength testing that allows mechanical strength measurements to be obtained from almost every lead on a fine pitch surface mount IC package.

Using six fabrics which are very different in structure and composition, comparisons have been made between British, French and American standards, and between IWS and Renault methods for seaming properties determination. According to measuring principles they could be classified into two groups. The calculated correlations within groups were acceptable, while correlations between groups were low. The Renault method is situated between the two groups, because one parameter given by this method showed a good correlation with the British standard, while the other had a good correlation with the French standard.

The purpose of this paper is to investigate the factors governing bond strength in fused deposition modeling (FDM) compared to strength in the fiber direction.

Acrylonitrile butadiene styrene (ABS) boxes with the thickness of a single fiber were made at different platform and nozzle temperatures, print speeds, fiber widths and layer heights to produce multiple specimens for measuring the strength.

Specimens produced with the fibers oriented in the tensile direction had 95 per cent of the strength of the constitutive filament. Bond strengths ranged from 40 to 85 per cent of the filament strength dependent on the FDM processing conditions. Diffusion, wetting and intimate contact all separately affect bond strength.

This study provides processing recommendations for producing the strongest FDM parts. The needs for higher nozzle temperatures and more robust feed motors are described; these recommendations can be useful for companies producing FDM products as well as companies designing FDM printers.

This is the first study that discusses wetting and intimate contact separately in FDM, and the results suggest that a fundamental, non-empirical model for predicting FDM bond strength can be developed based on healing models. Additionally, the role of equilibration time at the start of extrusion as well as a motor torque limitation while trying to print at high speeds are described.

This paper aims to develop a specific type of mobile nonrigid support friction stir welding (FSW) robot, which can adapt to aluminum alloy trucks for rapid online repair.

The friction stir welding robot is designed to complete online repair according to the surface damage of large aluminum alloy trucks. A rotatable telescopic arm unit and a structure for a cutting board in the shape of a petal that was optimized by finite element analysis are designed to give enough top forging force for welding to address the issues of inadequate support and significant deformation in the repair process.

The experimental results indicate that the welding robot is capable of performing online surface repairs for large aluminum alloy trucks without rigid support on the backside, and the welding joint exhibits satisfactory performance.

Compared with other heavy-duty robotic arms and gantry-type friction stir welding robots, this robot can achieve online welding without disassembling the vehicle body, and it requires less axial force. This lays the foundation for the future promotion of lightweight equipment.

The designed friction stir welding robot is capable of performing online repairs without dismantling the aluminum alloy truck body, even in situations where sufficient upset force is unavailable. It ensures welding quality and exhibits high efficiency. This approach is considered novel in the field of lightweight online welding repairs, both domestically and internationally.

The purpose of this paper is that the modular mobile robots reformed the multimachine joint mode to achieve obstacle-crossing, climbing and other multifunctional inspection in unstructured environment under the connection of the cone–hole docking mechanism.

An arc-shaped docking cone head with a posture-maintaining spring and two arc-shaped connecting rods that formed a ring round hole were designed to achieve large tolerance docking. Before active locking, the coordination between structures was used to achieve passive locking, which mitigated the docking impact of modular robots in unstructured environment. Using the locking ring composed of the two arc-shaped connecting rods, open-loop and closed-loop motion characteristics were obtained through the mutual motion of the connecting rod and the sliding block to achieve active locking, which not only ensured high precision docking, but also achieved super docking stability.

The cone–hole docking mechanism had the docking tolerance performance of position deviation of 6mm and pitch deviation of 8° to achieve docking of six degrees of freedom (6-DOF), which had a load capacity of 230 N to achieve super docking stability. Under the connection of the cone–hole docking mechanism, the modular mobile robots reformed the multimachine joint mode to achieve obstacle-crossing, climbing and other multifunctional inspection in unstructured environment.

Based on mechanical analysis of universal models, a cone–hole docking mechanism combining active and passive functions, six-dimensional constraints could be implemented, was proposed in this paper. The characteristics of the posture-maintaining spring in the cone docking head and the compression spring at the two ends of two arc-shaped connecting rods were used to achieve docking with large tolerance. Passive locking and active locking modules were designed, mitigating impact load and the locking did not require power to maintain, which not only ensured high precision docking, but also achieved super docking stability.

The purpose of this paper is to introduce a variable distance pneumatic gripper with embedded flexible sensors, which can effectively grasp fragile and flexible objects.

Based on the motion principle of the three-jaw chuck and the pneumatic “fast pneumatic network” (FPN), a variable distance pneumatic holder embedded with a flexible sensor is designed. A structural design plan and preparation process of a soft driver is proposed, using carbon nanotubes as filler in a polyurethane (PU) sponge. A flexible bending sensor based on carbon nanotube materials was produced. A static model of the soft driver cavity was established, and a bending simulation was performed. Based on the designed variable distance soft pneumatic gripper, a real-time monitoring and control system was developed. Combined with the developed pneumatic control system, gripping experiments on objects of different shapes and easily deformable and fragile objects were conducted.

In this paper, a variable-distance pneumatic gripper embedded with a flexible sensor was designed, and a control system for real-time monitoring and multi-terminal input was developed. Combined with the developed pneumatic control system, a measure was carried out to measure the relationship between the bending angle, output force and air pressure of the soft driver. Flexible bending sensor performance test. The gripper diameter and gripping weight were tested, and the maximum gripping diameter was determined to be 182 mm, the maximum gripping weight was approximately 900 g and the average measurement error of the bending sensor was 5.91%. Objects of different shapes and easily deformable and fragile objects were tested.

Based on the motion principle of the three-jaw chuck and the pneumatic FPN, a variable distance pneumatic gripper with embedded flexible sensors is proposed by using the method of layered and step-by-step preparation. The authors studied the gripper structure design, simulation analysis, prototype preparation, control system construction and experimental testing. The results show that the designed flexible pneumatic gripper with variable distance can grasp common objects.

The problems of handling technology are no longer confined to robot technology alone, i.e. to specific equipment developments, insertion devices, and industrial robots, even if these are at present the main focus of attention. What is becoming increasingly significant are the problems inherent in the use of this equipment, together with solutions to the peripheral problems of whole handling systems. Equally, solutions to these problems are to be sought where no fixed or freely‐programmable handling equipment is needed, e.g. on packing‐machines or bottle‐filling plant. And the problem of “gripping” or of “clamping” workpieces or products occurs in almost all production processes.