Title :
Research on a new crawler type inspection robot for power transmission lines
Author :
Wang, Jidai ; Sun, Aiqin ; Zheng, Candong ; Wang, Jihong
Author_Institution :
Sch. of Mech. & Electron. Eng., Shandong Univ. of Sci. & Technol., Taian, China
Abstract :
The mechanical structure and control system for a new crawler type of robots is presented in this paper. The type of the robot is designed for power transmission line inspections. The new crawler type of the robot is composed of three arms and a balance mechanism, which are all joined together through a base. The distributed and hierarchical control strategy for this new robot is proposed in combination with a rule based expert system for optimal decision making. The proposed control strategy has been organized into three levels hierarchically. Compared with other robot structures, this new type of robot has a simpler structure. It has been proved that this type of new robot has higher efficiency in obstacle crossing through the simulation and experiments operating with the prototype of the model machine. Its intelligent control strategy has demonstrated its competitive advantages. The crawler type inspection robot is a attempt for developing a new robot structure to be used for high voltage power transmission line inspection.
Keywords :
collision avoidance; distributed control; expert systems; hierarchical systems; inspection; intelligent control; legged locomotion; optimal control; power transmission lines; control system; crawler type inspection robot; distributed control; hierarchical control; high voltage power transmission line inspection; intelligent control; mechanical structure; obstacle crossing; optimal decision making; robot structure; rule based expert system; Control systems; Inspection; Legged locomotion; Power transmission lines; Robot kinematics; Crawler structure inspection robot; Crossing; Distributed and hierarchical control systems; Power transmission lines;
Conference_Titel :
Applied Robotics for the Power Industry (CARPI), 2010 1st International Conference on
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4244-6633-7
DOI :
10.1109/CARPI.2010.5624471