Knowledge Commons of Institute of Automation,CAS
Design of An Inspection Robot System with Hybrid Operation Modes for Power Transmission Lines | |
Wang,Han1,3![]() ![]() ![]() | |
2019-08 | |
会议名称 | 2019 IEEE International Conference on Mechatronics and Automation (ICMA) |
会议日期 | 4-7 Aug. 2019 |
会议地点 | Tianjin, China |
出版者 | IEEE |
摘要 | In this paper, we design a kind of transmission line inspection hybrid robot with a novel mechanical structure, taking the advantages of climbing robots and unmanned aerial vehicle(UAV). The hybrid robot has amphibious functions of on-wire crawling and flight. When encountering obstacles, the hybrid robot takes off directly to fly over them and it runs on the ground wire by rolling on wheels in the absence of obstacles. And then we verify its on-wire-balance by mechanical analysis. In order to achieve a tradeoff between the selection of the lightweight material and operational reliability of the robot, the finite element static structure simulation and dynamic simulation are carried out for important parts of the robot. In addition, a ROS-based robot control system has been designed and a multi-mode switching control strategy has been proposed. |
关键词 | Power line inspection robot Mechanism design Mechanical analysis Simulation analysis Multi-mode switching |
DOI | 10.1109/ICMA.2019.8816540 |
收录类别 | EI |
语种 | 英语 |
七大方向——子方向分类 | 智能机器人 |
引用统计 | |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/44839 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Li,En |
作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.State Grid Shandong Elect Power Co, Jinan, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Wang,Han,Li,En,Yang,Guodong,et al. Design of An Inspection Robot System with Hybrid Operation Modes for Power Transmission Lines[C]:IEEE,2019. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
08816540.pdf(435KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 |
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