Title :
Development of suspending attitude self-balance mechanism for boom-orientated line inspection robot
Author :
Shengyuan, Jiang ; Limin, Ren ; Xiangyan, Lv ; Jianyong, Li ; Hongzhang, Jiao
Author_Institution :
Coll. of Mech. Eng., Beihua Univ., Jilin, China
Abstract :
This paper presents compound obstacle-navigating mechanism and expounds its navigating principle which meets the need for line inspection robot to navigate tower accessories. It proposes novel pitch balance mechanism and yaw balance mechanism according to the variation of suspending state and centre of mass when the robot navigating obstacles. It verifies the validity and feasibility of the mechanism via theory analysis and experiments. It paves the way for line inspection robot to work on overhead cables reliably.
Keywords :
collision avoidance; industrial robots; inspection; boom-orientated line inspection robot; compound obstacle-navigating mechanism; mass center variation; navigating principle; pitch balance mechanism; suspending attitude self-balance mechanism; suspending state variation; tower accessories navigation; yaw balance mechanism; Calibration; Error compensation; Inspection; Mathematical model; Orbital robotics; Robot kinematics; Robot programming; Robotic assembly; Robotics and automation; Service robots; Boom-orientated line inspection robot; balance mechanism; obstacle navigating; suspending attitude;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5244927
