A novel 110 kV power line inspection robot and its climbing ability analysis
文献类型：期刊论文
| 作者 | Yue X(岳湘); Jiang Y(姜勇) ; Wang HG(王洪光)
|
| 刊名 | International Journal of Advanced Robotic Systems
 |
| 出版日期 | 2017 |
| 卷号 | 14期号:3页码:1-10 |
| 关键词 | Power line inspection robot mechanism design climbing ability simulation |
| ISSN号 | 1729-8806 |
| 产权排序 | 1 |
| 通讯作者 | Yue X(岳湘) |
| 中文摘要 | A novel mechanism for 110 kV power transmission line inspection is presented according to the requirements of inspection tasks and characteristics of obstacles on power transmission lines. Its configuration is introduced, and the navigation process of typical obstacles is planned. Then the kinematics equations and the workspace are derived. The grade ability of the power transmission line inspection robot is analysed and then improved by some measures. The quasi-static mode of the robot and the contact mechanics of the wheels are established. Adhesion force of the driving wheel can be improved by optimizing the structure of the wheel and the wheel load is reasonably distributed by planning the posture of the robot. So the climbing ability is ameliorated. The climbing ability of the different wheel structure and the different posture is simulated. Furthermore, the simulation of the navigation of the strain clamp and test of navigation of the jumper in the laboratory have been carried out. The simulation results demonstrate that the mechanism has such characteristics as compact construction, strong stability and excellent obstacle negotiation capability. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | TRANSMISSION-LINES |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000402623900001 |
| 源URL | [http://ir.sia.cn/handle/173321/20505]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 作者单位 | Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Yue X,Jiang Y,Wang HG. A novel 110 kV power line inspection robot and its climbing ability analysis[J]. International Journal of Advanced Robotic Systems,2017,14(3):1-10. |
| APA | Yue X,Jiang Y,&Wang HG.(2017).A novel 110 kV power line inspection robot and its climbing ability analysis.International Journal of Advanced Robotic Systems,14(3),1-10. |
| MLA | Yue X,et al."A novel 110 kV power line inspection robot and its climbing ability analysis".International Journal of Advanced Robotic Systems 14.3(2017):1-10. |
入库方式： OAI收割
来源：沈阳自动化研究所
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