Research on a novel maintenance robot for power transmission lines
文献类型：会议论文
| 作者 | Xiao SY(肖时雨) ; Wang HG(王洪光); Ling L(凌烈)
|
| 出版日期 | 2016 |
| 会议名称 | 2016 4th International Conference on Applied Robotics for the Power Industry (CARPI) |
| 会议日期 | October 11-13, 2016 |
| 会议地点 | Jinan, China |
| 关键词 | mobile robot slip vibration damper power transmission line maintenance inverse kinematics |
| 页码 | 1-6 |
| 通讯作者 | 肖时雨 |
| 中文摘要 | The slip vibration damper on power transmission lines (PTLs), which is caused by aeolian vibration, material aging and some outside interference, is a serious fault in power grid. The maintenance task, with high working intensity and risk, is generally completed on the high voltage live line by specially trained workers. This paper presents the development of a novel mobile robot aiming at retrieving slip vibration dampers in power grid. The mobile robot with an operation platform can adapt to uncertain postures of the vibration damper, though the posture varies in a random way within a certain range. After approaching the fault location, the robot first disassembles the connection clamps of the loose vibration damper with specialized tools, and then the vibration damper is transported to the original position and assembled by virtue of a lifter and a revolute sleeve barrel. With the consideration of practical application, safety and performance on maintenance, the robot prototype has been developed. The inverse kinematics with geometrical constraints has been deduced. Robot experiments on mock-up lines have been carried out and the results are shown in this paper. © 2016 IEEE. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5090-3228-0 |
| WOS记录号 | WOS:000390590800031 |
| 源URL | [http://ir.sia.cn/handle/173321/19695]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | Xiao SY,Wang HG,Ling L. Research on a novel maintenance robot for power transmission lines[C]. 见:2016 4th International Conference on Applied Robotics for the Power Industry (CARPI). Jinan, China. October 11-13, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。