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The broken strand of overhead ground wire (OGW), which is mainly caused by lightning strikes or the vibration of OGW, can lead to serious damage to the power grid system. Power-line maintenance work is generally carried out by specialized workers under extra-high voltage live-line conditions which involve great risks and high labor intensity. In this paper, we present a broken strand detection method...
Buried pipelines would be deformed as a result of the loading of surface facilities and vehicles. If the deformation has gone beyond the critical level, it may cause serious consequences, such as the damage of the pipeline. Pipeline deformation is also applied to estimate the stress in the pipeline, and thus to keep the pipeline stress below the critical level. A new method for detecting pipeline...
A mobile robot based on novel line-walking mechanism is proposed for inspecting power transmission lines. The novel mechanism enables the centroid of the robot to concentrate on the hip joint to minimize the drive torque of the hip joint and keep the robot stable when only on leg is hung on line. After reviewing of the line-walking mechanism, power line inspection robot is described in detail. The...
A mobile robot based on novel line-walking mechanism is proposed for inspecting power transmission lines. The novel mechanism enables the centroid of the robot to concentrate on the hip joint to minimize the drive torque of the hip joint and keep the robot stable when only one leg is hung on line. After reviewing of the line-walking mechanism, power line inspection robot is described in detail. The...
The subject of this paper is the design and analysis of a biped line walking robot for inspection of power transmission lines. The novel mechanism enables the centroid of the robot concentrate on the hip joint to minimize the drive torque of the hip joint. The line-walking cycle of the designed mechanism is composed of a single-support phase and a double-support phase. The mechanical structure of...
The subject of this paper is the design, analysis and control of a biped line walking robot for inspection of power transmission lines. The novel mechanism enables the centroid of the robot concentrate on the hip joint to minimize the drive torque of the hip joint. The line-walking cycle of the designed mechanism is composed of a single-support phase and a double-support phase. During the process...
A mobile mechanism with biped configuration is proposed for power transmission line inspection purpose. The wire-walking cycle of the designed mechanism composed of single-support phase and double-support phase. During the process of single-support phase, one foot hang on line and the other foot swing from rear to front to overcome obstacles on line and realize wire-walking locomotion. The novel mechanism...
This paper focuses on the controller design of the walking system of a power transmission line inspection robot that is redundantly actuated by two wheels. After an analysis the kinematics and dynamic model of the driven system, the controller is designed as a master-slave model to avoid the ldquoconflictrdquo between the two wheels. To effectively damp the elastic vibration caused by the flexible...
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