Abstract
ABSTRACTGround-based high voltage electrical line inspection is one of the difficult and highly dangerous job as far as a manual worker is concerned. The transmission line inspection by robots avoids temporary interruption of power supply that affects the end user and transmission grid. Also, robot-based inspection reduces maintenance cost and hazards. The electrical line inspection is normally carried out using binoculars and rarely by helicopters in most of the countries because of the low cost. Wire traversing or aerial robots are being used in Japan, Canada, USA and Russia for inspecting and monitoring faults in transmission lines and towers. However, most of these robots require a lot of human effort for installation due to its weight and complex design. Cost of these robots is also very high. This paper presents the mechanical design, fabrication and testing of a novel, low cost, light weight and compact power transmission line inspection robot. This work also includes kinematic, static and dynamic analysis of various subsystems of robot. Proposed robot is capable of traversing on straight transmission line and jumper cables present in tension towers. The robot has 10 DoF dual arm for crossing operation and a base system to achieve the locomotion.
Highlights
Manual and helicopter based high voltage line inspection are common in most of the developing countries
This paper presents the synthesis of mechanism, kinematic and static analysis, dynamic analysis of the arm and robot, integration of subsystems and testing of robot in a fabricated transmission line setup
Design of the complete robot system is carried out based on the kinematic, static and dynamic analysis which are given in detail in the preceding sections
Summary
Manual and helicopter based high voltage line inspection are common in most of the developing countries. Manual inspection in power transmission lines involves higher risk, and it is unsafe, hazardous, time consuming and an expensive approach [1,2,3]. Operated robots can be used for the realtime inspection of power lines [4]. The major obstacles to be avoided are suspension towers, tension towers, spacers, dampers and insulators as shown in Figures 1 and 2. Crossing of tension towers is tougher compared to that of suspension towers due to the insulators along the line. High voltage line inspection robots can be used for inspecting structural and suspension cables on bridges, robotic surveillance along the cables, crop monitoring and forestry research [6]
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