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Word下载.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Word下载.docx
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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
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
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