JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2015, Vol. 45 ›› Issue (1): 45-53.doi: 10.6040/j.issn.1672-3961.0.2014.123

Previous Articles     Next Articles

Live-working robot for emergency repair of power distribution system

GAO Huanbing, TIAN Guohui   

  1. School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China
  • Received:2014-09-02 Revised:2014-10-15 Published:2014-09-02

PDF (PC)

1629

Abstract: A live-working robot was presented for the development of safe equipment for emergency rescue and recovery, and its mechanical architecture and control system were discussed. A system solution was proposed based on a hydraulic servo driving robot arm with 6 degrees of freedom, the structure and dynamics performance of which was optimized to maximize its payload capability by kinematics, dynamics and finite element analysis. The compliant control model of the robot arm was built by asymmetric control method against the vibration caused by the collision of the robot with wires. The dynamic positioning system with high precision under complex environment, a combination of static measurement by whole monocular vision and dynamic measurement by binocular eye-in-hand vision system, was developed, then the local automatic path planning and motion control for the robot arm was realized. The effectiveness and feasibility on distribution systems with at the voltage smaller than 10 kV were tested by experiments for the proposed robot.

Key words: robot, distribution system, binocular vision, live-working, object-oriented, hydraulic robot arm

CLC Number: 

  • TP24
[1] Sawada J, Kusumoto K, Maikawa Y, et al. A Mobile Robot for Inspection of Power Transmission Lines[J]. IEEE Trans on Power Delivery, 1991, 6(1):309-315.
[2] Yano K, Maruyama Y, Morita K, et al. Development of the Semi-automatic Hot-line Work Robot Systems "Phase Ⅱ"[C]//Proceedings of the 7th International Conference on Transmission and Distribution Construction and Live Line Maintenance. Washington: IEEE Press, 1995:212-218.
[3] Shinya Tanaka, Yoshinqga Maruyama, Kyoji Yano. Work Automation with the Hot-Line Work Robot System "Phase Ⅱ"[C]//The 1996 IEEE International Conference on Robotics and Automation. Washington: IEEE Press, 1996:1261-1267.
[4] Takaoka K, Yokoyama K, Wakisako H. Development of the fully-automatic live-line maintenance robot-phase III[C]//Proceedings of the 4th IEEE International Symposium on Assembly and Task Planning. Washington: IEEE Press, 2001: 423-428.
[5] Yoshinaga Maruyaga, Robotic application for hot-line maintenance[J].Industrial Robot, 2000, 27(5):357-365.
[6] Tsukahara K, Tanaka Y, Yingxin H, et al. An experimental robot system for power distribution line maintenance robots-system architecture and bolt insertion experiment[C]//Proceedings of the International Conference on Intelligent Robots and Systems. Washington: IEEE Press, 2008:1730-1736.
[7] Santamaria A, Aracil R, Tuduri A, et al. Teleoperated Robots for Live Power Lines Maintenance[C]//Proceedings of the 14th International Conference and Exhibition on Electricity Distribution. Washington: IEEE Press, 1997:3.31.1-3.31.5.
[8] Udod E, Molchanov V, Taloverya V, et al. Automated Apparatus for Live Work on Overhead Transmission Lines[C]//Proceedings of 1998 International Conference on Transmission and Distribution Construction and Live Line Maintenance. Washington: IEEE Press, 1998:19-26.
[9] Zarei-nia K, Sepehri N, Olson T, et al. Haptic-enabled control of hydraulic manipulators applied to power line maintenance: Concept & implementation[C]//Proceedings of the 1st International Conference on Applied Robotics for the Power Industry. Washington: IEEE Press, 2010:1-6.
[10] 赵明辉,朱建生. 加拿大带电作业介绍[J]. 四川电力技术, 1998,21(6):58-60. ZHAO Minghui, ZHU Jiansheng. Live Line Work in Canada[J]. Sichuan Electric Power Technology, 1998, 21(6):58-60.
[11] Soler R, Guillet J. Robotic maintenance of the EDF transmission (63 to 400 kV) network: feasibility study and effects on tower design[C]//Proceedings of the 6th International Conference on Transmission &Distribution Construction & Live Line Maintenance. Washington: IEEE Press, 1993: 459-468.
[12] Chang-HoiKim, Seungho Jung, Taewon Jeong. Relative Position Measurement Method for a Live-line Work Robot[C]//Proceedings of 2007 International Conference on Control, Automation and Systems. Washington: IEEE Press, 2007: 998-1001.
[13] Joon-Young Park, Byung-Hak Cho, Seung-Hyun Byun, et al. Development of Cleaning Robot System for Live-line Suspension Insulator String[J].International Jonrnal of Control,Automation, and Systems. 2009,2(7):211-220.
[14] Joon-Young Park, Byung-Hak Cho, Jae-Kyung Lee. Development of robot mechanism for inspection of live-line suspension insulator string in 345 kV power lines[C]//Proceedings of the 2008 International Conference on Control, Automation and Systems. Washington: IEEE Press, 2008:2062-2065.
[15] 鲁守银, 马培荪, 戚晖, 等. 高压带电作业机器人的研制[J]. 电力系统自动化, 2003, 27(17):56-58. LU Shouyin, MA Peisun, QI Hui, et al. Research on High Voltage Electric Power Live Line Working Robot[J]. Automation of Electric Power Systems, 2003, 27(17):56-58.
[16] 王公旺. 高压带电作业机器人运动控制系统的研究与实现[D]. 青岛:山东科技大学, 2010. WANG Gongwang. The Motion Control System Research and Implementation of High Voltage Live Line Working Robot[D]. Qingdao: Shandong University of Science and Technology, 2010.
[17] Ju Dai, Xuecheng Su. Simulated robotic hot-line maintenance based on virtual reality[C]//Proceedings of the 4th World Congress on Intelligent Control and Automation. Washington: IEEE Press, 2002:1231-1235.
[18] 李健,鲁守银, 李运厂, 等. 10 kV配电线路带电抢修作业机器人实用化研究[J]. 制造业自动化, 2012,34(22):90-94. LI Jian, LU Shouyin, LI Yunchang, et al. The practical research of robot on live repair working for 10 kV distribution lines[J]. Manufacturing Automation, 2012, 34(22):90-94.
[19] Lee Woo-Song, Eom Jae-Hong, Won Jong-Dae, et al. A study on visual servoing control of industrial robot[C]//Proceedings of the 12th International Conference on Control, Automation and Systems. Washington: IEEE Press, 2012:1886-1890.
[20] Huang Guo-Shing, Chen Xi-Sheng, Chang Chung-Liang. Development of dual robotic arm system based on binocular vision[C]//Proceedings of 2013 CACS International Automatic Control Conference. Washington: IEEE Press, 2013:97-102.
[1] ZHANG Mian, HUANG Ying, MEI Haiyi, GUO Yu. Intelligent interaction method for power distribution robot based on Kinect [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(5): 103-108.
[2] XIN Yaxian, LI Yibin, LI Bin, RONG Xuewen. Smooth walk-to-trot gait transition algorithm for quadruped robot [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(4): 42-49.
[3] PAN Yiwei, YUAN Shuai, CHEN Alian, ZHANG Chenghui. A soft starting method for the isolated DC/DC converter in DC distribution systems [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2017, 47(4): 37-42.
[4] ZHAO Zijian, WANG Fang, CHANG Faliang. Survey on medical robot in computer-aided surgery [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2017, 47(3): 69-78.
[5] LIU Bin, SONG Rui, CHAI Hui. Buffering strategy for articulated legged robot based on virtual model control and acceleration planning [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2016, 46(6): 69-75.
[6] TANG Qingshun, JIN Lu, LI Guodong, WU Chunfu. Robotic manipulators tracking control based on adaptive terminal sliding mode controller [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2016, 46(5): 45-53.
[7] ZHAO Zijian, CHEN Zhaorui, LI Bingqing. A new method for hand-eye calibration based on non-minimization optimization [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2016, 46(4): 28-33.
[8] CHEN Hongxing, ZHOU Fengyu, TIAN Tian, JIANG Zhifei, CHEN Zhumin. Design of SOA interface model in service robot cloud computing platform [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2015, 45(4): 31-39.
[9] MENG Jian, LI Yibin, LI Bin. Bound gait controlling method of quadruped robot [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2015, 45(3): 28-34.
[10] TIAN Guohui, XU Yaxiong. Cloud robotics: concept, architectures and key technologies [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2014, 44(6): 47-54.
[11] ZHOU Fengyu, ZHAO Wenfei, TIAN Tian, CHEN Hongxing, CHEN Zhumin. Design and implementation of cloud storage system for accompany robot [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2014, 44(5): 1-6.
[12] YUAN Li, TIAN Guohui*, LI Guodong. Visual servo grasping of household objects for NAO robot [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2014, 44(3): 57-63.
[13] WANG Hai-yan, LI Yi-bin*. Gait planning and control of a biped robot walking up and down stairs [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2014, 44(1): 57-62.
[14] DING Na-na, TIAN Guo-hui*, LI Guo-dong, ZHANG Qing-bin. Visual self-localization of biped robot based on artificial landmark [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2013, 43(4): 51-56.
[15] MA Xin1, WANG Wei1, SONG Rui1, RONG Xuewen1, MENG Jian1, LI Yibin1, WANG Bo2. Hierarchical real-time control system for a hydraulically actuated quadruped bionic robot [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2012, 42(4): 48-53.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright 2018 © Editorial office of Journal of Shandong University (Engineering Science)
Supported by Beijing Magtech Co.Ltd