电力线路检测机器人的设计与开发外文文献翻译中英文翻译外文翻译.docx

电力线路检测机器人的设计与开发外文文献翻译中英文翻译外文翻译.docx

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电力线路检测机器人的设计与开发外文文献翻译中英文翻译外文翻译

译文标题：

电力线路检测机器人的设计与开发

原文标题：

Designanddevelopmentofapowerlineinspectionrobot

作者：

M.Jayatilaka,M.Shanmugavel,S.V.Ragavan

原文出处：

Mechatronics,SchoolofEngineeringMonashUniversityMalaysiacampus

BandarSunway,Malaysia,46150

{madhavan.shanmugavel,veera.ragavan}@monash.edu

Robonwire:

Designanddevelopmentofapower

lineinspectionrobot

MilanJayatilaka,MadhavanShanmugavel,S.VeeraRagavanMechatronics,SchoolofEngineering

MonashUniversityMalaysiacampusBandarSunway,Malaysia,46150

{madhavan.shanmugavel,veera.ragavan}@monash.edu

Abstract

Thispaperpresentsadesignofalow-cost,lightweightpowerlineinspectionrobot:

Robonwire.Thoughcommercialandresearchrobotsforinspectingandmonitoringpowerlineareavailable,theweightoftherobotishighanditrequiresalotofhumaneffortduringset-upandoperation.Wefocusondevelopingalaboratoryscalerobotforpowerlineinspection.Therobothasthreearmsandabaseframewhichhousestheelectricalandelectronicelementstocontrolthelocomotionandavoidingobstacles.Itusesthreepoweredmotorswithwheelsoneforeacharmprovidingthemobilityoftherobotonthewires.Eacharmhastwojoints.Theupperjointconnectsthearmbodytothewheelassemblywhiletheloweroneconnectsthearmbodytothebaseframe.Theobstacleavoidanceisachievedbylateralrotationofarmsinsequence.Thispaperpresentstheinitialphaseofthedevelopmentinwhicharobotisbuiltfortravellingonwire.Themotionplanningforobstacleavoidanceandsimulationsfortorquerequirementanalysisofjointmotorsarealsopresented.

Keywords:

Powerlineinspectionrobot;Robot;Robonwire

山西能源学院学士学位论文文献综述

I.INTRODUCTION

Modernpowerdistributionnetworksareunquestionablycriticalintheprogressofanynation.Because,theyrepresentbothsignificantinvestmentandcriticalresourcetoeverycitizen,theynecessitateregularinspectionandmaintenance[22].Currently,mannedorautonomoushelicoptersareusedtoinspectindividualsectionsoftheline,ahazardousandgenerallyexpensiveprocessforenergyproviders.Theuseofhelicoptersforpowerlineinspectionhasalongtradition[12],[22],[7],whilecurrently,growinguseofunmannedaerialvehiclescanbeseen[3],[20].Thus,itisproposedtodevelopalowcost,robust,wirescalingrobottoconducttheinspectionssafelyandsecurelyunderlivewireconditions.

Arecentdevelopmentinthefieldofroboticsistheuseofrobotsonwireswhererobotsareusedforpowerlineinspection.Theserobotsaredesignedtoperformtaskswhilemovingonacableorrope.Theabilityoftheserobotstooperateautonomouslyortoberemotelyoperatedmakesthemanattractivesolutionforjobsinvolvinginspectionandmaintenance.Theadvantagesofimplementingarobotonwireswouldbe（i）Continuousinspectiononlive-wire:

Therobotcanbelefttooperatewithminimalinterferencewithoccasionalmaintenance,（ii）Lowrisk:

Therobotcanbeputintotele-operationorautonomousmodeandinspecthazardousorhighvalueassetswithoutendangeringhumanlives,and（iii）Higherprecisionandaccuracy:

Therobotmayprovideoperatorswithagreaterquantityofaccuratetelemetrythanwouldbeachievablewithperiodicinspections.

Assuch,severalsuchapplication-specificwirerobotshavebeendesignedinrecentyears[5],[2],[16],[17],[21],withamajorityfocussingonhighvoltagetransmissionlineinspectionandsuspensioncableinspection.However,otherapplicationsalsoexist,forexample,（i）structuralandcableinspectionrobots:

currentlybeingdevelopedtoinspectthesuspensioncablesonbridgesandotherstructures[8],[6],（ii）Powertransmissioninspection[14],[16],（iii）Surveillance:

Roboticsurveillancealongwireswouldallowforawidersurveillancefieldthanstaticmountedcamerasandsensors[24],and（iv）Research:

Robotsthataredesignedtotravelalongpowerlinescanalsobere-purposedtomonitorthesizablelandareasoverwhichtheytravel.Thisdatacanbeusedforforestryresearch,remoteobservation,orcropmonitoring.

Thescopeofthisworkislimitedtomodellingdesignanddevelopmentofaroboticplatformandtheaccompanyingelectronicsnecessaryforitsmotiononthewire.Thisistheinitialphaseoftheresearchwhichfocusondesignanddevelopmentoflocomotionmechanismandkinematicanalysis.Themaincontributionsofthispaperare:

Alaboratoryprototyperoboticplatformisdesignedforpowerlineinspectionwiththreearmswithwheelsfortraversingonthepowerline.

Kinematicanddynamicanalysisoftherobotisachievedfortorquerequirements.

Thedesignisfocussedonavoidingthelargestobstacle:

aircraftwarningballwhiletherobotwillrolloverthesmaller.

Alaboratoryscaleworkingprototypeisdevelopedforpreliminarytestingandexperiments.

Arduinobasedcontrollerisdevelopedformotioncontrol

Thepaperisorganizedasfollows:

ThenextsectionIIdiscussestherelevantliteratureinpowerlineinspectionrobotanditdiscussesareviewofexistingdesignsolutionsfromlocomotionstandpoint.Abriefconsiderationwillbegiventoarticlesonthemodellingtherobotlocomotion.ThesectionIIIdiscussesthephysicaldesignandindividualsubcomponentsofRobonwire.ThesectionIVpresentsthesequenceofmotionsofarmsforavoidingobstaclesalongwithstatemachineforavoidingobstacle.AsimulationstudyforcalculatingtorquerequirementsarepresentedwithkinematicanddynamicanalysisoftherobotinsectionV.ThepaperendswithdiscussionsandconclusionsinVI.

II.RELEVANTWORKINPOWERLINEINSPECTIONROBOTS

Recently,asignificanteffortinmakingpowerlineinspectionrobotisseenbyindustries:

Hydro-Quebec,HiBotCorp.,andcollaboratingUniversities.Traditionally,thetransmissionlineisinspectedthroughvisualobservation,thermalsensor,byclimbingupthetowerandfootpatrol.Thehighvoltagelinesaremonitoredbyhelicopterassistedinspection.Thesemethodsposehighrisktotheoperatorsandline-menandalsoinspectingnetworkofpowerlinesisatimeconsumingandmonotonousjob.Arecentsurvey[9],[10]discussesthedifferenttypesoffaults,typesofrobotsusedforinspection.

Proceedingsofthe1stInternationaland16thNationalConferenceonMachinesandMechanisms（iNaCoMM2013）,IITRoorkee,India,Dec18-202013

A.LineScount

TheLineScout（Fig.1）weighs100KgisdevelopedbyHydro-Quebecforlivelineinspection[13],[15],[16].Itcomprisesthreesections:

awheelframe,acentreframe,andthearmframe.Whilefacingtheobstacle,therobotextendsthearmframealongthelineuntilitbridgedtheobstacle,andtheraisedarmsgriptheline.Followingthis,thewheelframeretractsthewheels.Thelinearactuatorsshiftthecenterframeforwardalongthearmframeandthenthewheelframeisshiftedfurtheruntilbothwheelswereclearofftheobstacle.Thewheelframeremountitswheelsontheline.Finally,theclampsarereleased,andthearmframeretractsandisshiftedback.Therobotcontinuesalongitsinspectionroute.

Fig.1.LineScout

ObstacleAvoidance[16]

ThedesignofLineScountutilizesrollingmotion,whichenablestherobottosimplyrolloversmallobstaclesinsteadofbeingforcedtoavoidthem.Apartfromthesafetyclamps,theLineScoutdidnotneedtocoupleordecouplewiththelinebecausemotionoftheframesareparalleltothepowerline.Thewheelframeneedonlybecollapsedorraised.Thec.g.oftherobotisshiftedbyslidingthearmandwheelframesinthecentreframe.Thisminimizethecantilevereffectduringobstacleavoidance.

B.Expliner

TheExplinerrobot（Fig.2）weighs84KgwasdevelopedasacollaborationbetweentheTokyoInstituteofTechnology,theKansaiPowerCorporationandtheHiBotCorporation,fromJapan[4].Ithastwodriveaxleswithtwowheelframesin

each.Thewheelsaredrivenindependentlybyservomotors.Theaxlesserveaslinkagesintherobot,andaseparatearmcarriesacounterweight.TheExplinerisrollingoversmallerobstacles,whileforlargerobstaclesitpivotsontherearsetofthewheelsbymovingthecounterweight.Thisliftsthefrontwheelsofftheline.Now,thefrontaxleisrotatedsoitisparalleltotheline.Theentireframeismovedforwardtillthefrontaxleisclearoftheobstacle.Theprocessisrepeatedwiththerearaxlebypivotonthefrontaxle,andbymovingthecounterweightforward.Whenbothwheelsareclearoftheobstacle,therobotcontinuesalong.ThemethodtheExplinerusedtotraverseobstaclesallowedit,liketheLineScounttoforgoanycouplingmechanism:

safetyclamps.Therobotcannotrunonotherthanduallines,thereforelimitingtheoperationoftherobot.

Fig.2.ExplinerObstacleAvoidance[4]

C.MobileRobotforInspectionofPowerLines

Anoldersolution[17]totheproblemofthelineinspectionisshowninFig.3.Thepremiseofthearticleisthat,forafullyfunctioningpowerlineinspectionrobot,thedesignmustbeabletotraversethelargestobstacleontheline:

thetowersconnectedbythelines.BecauseofthesuspendedinsulatorfortransmissionlinesemployedinBritishColumbia,theLineScoutwasabletoeasilytravelacrosstowersusingitsexistingobstacleavoidancetechnology.However,whentheinsulatorsholdthelinetothetoweraxially,thetwocombinedinsulatorsformanobstacletoolargeformostrobots.Thisrobothasafold-ableframewhich,whenunfolded,wouldbelargeenoughtoattachtothetowerandmovearoundtheinsulatorstothelineontheotherside.MuchliketheLineScout,theframewouldremaincollapseduntilsuchtimeasitwasneeded.However,thepaperclaimedtohavehighestpowertoweightratiowithaninternalcomb