International journal of advanced smart convergence

The Institute of Internet, Broadcasting and Communication (한국인터넷방송통신학회)
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A Study on a Power Transmission Line Mobile Robot for Bundled Conductor Navigation

  • Seok, Kwang-Ho (BioComputing Lab, Department of Computer Science and Engineering, Korea University of Technology and Education (KOREATECH)) ;
  • Kim, Yoon Sang (BioComputing Lab, Department of Computer Science and Engineering, Korea University of Technology and Education (KOREATECH))
  • Received : 2019.05.05
  • Accepted : 2019.05.19
  • Published : 2019.06.30
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Abstract

We introduces a mobile robot that can navigate on a power transmission line arranged in bundled conductors. The designs of the proposed robot are performed for navigation on bundled conductors, and the navigation method for bundled conductors and obstacle avoidance are presented. The robot consists of 13 degrees of freedom (DOF) with a symmetrical structure for the left and right parts, including the four wheel joints. The navigation method is designed using a combination of three motion primitives such as linear motion of counterbalancing box, linear motion of robot arm, and rotational motion of wheel part. To examine the performance of the proposed robot, navigation simulations are conducted using $ADAMS^{TM}$. The robot navigations were simulated on obstacle environments that consisted of two- and four-conductor bundles. Based on the simulation results, the performance of the proposed robot was reviewed through the analysis of the trajectories of end-effectors. We confirmed that the proposed robot was capable of achieving optimal navigation on bundled conductors that included obstacles.

Keywords

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Figure 1. Structure of the proposed robot (a) design (b) dimensions

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Figure 2. Gripping methods of the proposed robot for bundled conductors (a) two-conductor bundles (b) four-conductor bundles (c) six-conductor bundles

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Figure 3. Depiction of the three-motion primitives of the proposed robot for obstacle avoidance (a) motion primitive A (b) motion primitive B (c) motion primitive C

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Figure 4. Navigation process using the proposed method

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Figure 5. Trajectory of the end-effectors on two-conductor bundles (a) X-axis (b) Y-axis (c) Z-axis

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Figure 6. Trajectory of the end-effectors on four-conductor bundles (a) X-axis (b) Y-axis (c) Z-axis

References

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