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This paper presents an innovative mechanical design of a reconfigurable miniature throwable robot. The robot keeps in spherical shape to buffer shock and to protect inner sub-systems in falling, and it transforms to a two-wheeled mobile robot in surveillance via wireless control. Two generations of the robot have been constructed, and details in mechanical design, principle of transformation and a...
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...
The subject of this paper is the analysis and control of a biped line walking robot for inspection of power transmission lines. The novel mechanism enables the center of the robot to concentrate on the hip joint to minimize the drive torque of the hip joint. The mechanical structure of the robot is discussed, as well as forward kinematics. A dynamic model is established in this paper. Locomotion of...
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...
Based on the analysis of the first prototype of an assisting robotic arm (ARA) for minimally invasive thoracic surgery, an improved design is presented. A self-gravity compensation mechanism is developed to resist joint torques caused by the weight of the robot and to reduce the force exerted on the end-effector by the surgeon. With a motor built into the arm, the design of the ball-socket-joint is...
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...
This paper presents an inspection robot suspended on power transmission lines based on a novel movement mechanism with two manipulators and a body. After the inspection robot configuration is described, the process of obstacle-navigation are analyzed in details. During the process of auto obstacle-navigation, power line grasping control should be realized exactly with the arm of inspection robot....
This paper presents a mobile robot suspended on power transmission lines based on a novel movement mechanism with two manipulators and a body. After the inspection robot configuration is described, the kinematics of the inspection robot and the process of obstacle-navigation are analyzed in details. In order to achieve autonomously control the task-oriented integrated control architecture is adopted,...
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