Mechanical Design of a Metamorphic Robot for High-voltage Transmission Line Insulator Detection

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	Mechanical Design of a Metamorphic Robot for High-voltage Transmission Line Insulator Detection
	Yuan H(袁晖)2,3,4; Yuan BB(袁兵兵)1,2,3; Wang HG(王洪光)2,3; Song YF(宋屹峰)2,3
	2021
会议日期	December 27-31, 2021
会议地点	Sanya, China
页码	1916-1922
英文摘要	The insulator strings of 220kV high-voltage power transmission line usually operate in high-altitude complex environment. To achieve the detection task, the insulator detection robot needs to meet the design requirements of light, compact structure and adaptability. This paper proposes an insulator detection metamorphic robot contained higher pair metamorphic mechanism. The main mechanism of the robot and moving detection process are introduced. The configurations transformation of the metamorphic clamping mechanism of the robot are discussed by topological graphs with mobility analysis, and the adaptability to the size and position of different insulators is demonstrated through metamorphic condition analysis. By static force analysis of the robot and the metamorphic clamping mechanism, the driving torque are obtained. Finally, a prototype is developed for climbing experiment, the result shows that the insulator detection metamorphic robot can move along insulator strings stably and effectively, and meet the requirements of lightweight, compact structure and adaptability.
源文献作者	Chiba Institute of Technology ; et al. ; IEEE Robotics and Automation Society ; Nankai University ; Shenyang Institute of Automation ; Shenzhen Academy of Robotics
产权排序	1
会议录	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
会议录出版者	IEEE
会议录出版地	New　York
语种	英语
ISBN号	978-1-6654-0535-5
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/30835]
专题	工艺装备与智能机器人研究室
通讯作者	Wang HG(王洪光)
作者单位	1.University of Chinese Academy of Sciences, Beijing 100049, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 4.School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, China
推荐引用方式 GB/T 7714	Yuan H,Yuan BB,Wang HG,et al. Mechanical Design of a Metamorphic Robot for High-voltage Transmission Line Insulator Detection[C]. 见:. Sanya, China. December 27-31, 2021.