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Wang L.,Kunshan Institute of Industry Research | Liu F.,Kunshan Institute of Industry Research | Xu S.,Kunshan Institute of Industry Research | Wang Z.,Kunshan Institute of Industry Research | And 3 more authors.
International Journal of Advanced Robotic Systems | Year: 2010

The subject of this paper is the design and analysis of a biped line walking robot for inspection of power transmission lines. With a novel mechanism the centroid of the robot can be concentrated on the axis of hip joint to minimize the drive torque of the hip joint. The mechanical structure of the robot is discussed, as well as forward kinematics. Dynamic model is established in this paper to analyze the inverse kinematics for motion planning. The line-walking cycle of the line-walking robot is composed of a single-support phase and a double-support phase. Locomotion of the line-walking robot is discussed in details and the obstacle-navigation process is planed according to the structure of power transmission line. To fulfill the demands of line-walking, a control system and trajectories generation method are designed for the prototype of the line-walking robot. The feasibility of this concept is then confirmed by performing experiments with a simulated line environment. Source


Zhao G.,Kunshan Institute of Industry Research | Wang L.,Kunshan Institute of Industry Research | Cheng S.,Kunshan Institute of Industry Research | Zhang J.,University of Hamburg
2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 | Year: 2011

The purpose of this study is to design a power transmission lines inspection robot that works between two towers in harsh environment. A novel mechanism composed of wheels and grippers makes the robot move upwards on the line that has 30 degrees ascending vertical angle and cross the specific obstacle like vibration dampers fixed on the line. Geometric design of the mechanism is discussed in detail and the critical problem of slide occurred between the line and the wheel is solved in this study using under actuated system. To advocate using green energy, the solar energy is applied for the first time in power line inspection robot that makes the robot be able to work on the line all the year round. The control system which has 3G technique to control the robot remotely is described briefly in this study. The effectiveness of the proposed concept is proved by experiments performed in a simulated line environment. © 2011 IEEE. Source


Zhao G.Z.,Kunshan Institute of Industry Research | Wang L.D.,Kunshan Institute of Industry Research | Ni W.L.,Jiangsu Electric Power Company | Hua Y.L.,Jiangsu Electric Power Company | Weng Y.M.,Jiangsu Electric Power Company
Applied Mechanics and Materials | Year: 2013

The purpose of this study is to design a flamethrower robot that works on power transmission lines. Composed of wheels and arms, the robot is able to move on the power transmission lines and also can get rid of the foreign matter like kites hanging on the line. Geometric design of the mechanism is discussed in detail and the critical problem of slide occurred between the line and the wheel is solved in this study. Also, the kinematics and the work space of the arm fixed on the robot are researched to ensure that the foreign matter hanging on the line can be cleared wherever it is. The effectiveness of the proposed concept is proved by experiments performed in a simulated line environment. © (2013) Trans Tech Publications, Switzerland. Source

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