Get 20M+ Full-Text Papers For Less Than $1.50/day. Start a 14-Day Trial for You or Your Team.

Learn More →

A novel series-parallel hybrid robot for climbing transmission tower

A novel series-parallel hybrid robot for climbing transmission tower The purpose of this paper is to describe the design and development of a novel series-parallel robot, which aims to climb on the transmission tower.Design methodology approachThis study introduces a hybrid robot, which consists of adsorption and two 3-degree of freedom (DOF) translation parallel legs connected by a body linkage. The DOF of the legs ensures that the robot can move on the climbing plane, also contribute to a compact design of the robot. An electromagnet is used to adsorb onto the transmission tower, simplifying the overall structure. Based on the robot design, this paper further defines its climbing gait and adopt the 6th B-spline curves for climbing trajectory planning under different working environments.FindingsThe developed prototype that implements the design of the robot, which was used in simulation and experiments, showing that the robot is capable of climbing in the test environments with the planned climbing gait.Originality valueThe hybrid robot is able to climb under varying degrees of inclinations and cross the obstacles, and the magnetic attraction can ensure stable climbing. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: The International Journal of Robotics Research and Application Emerald Publishing

A novel series-parallel hybrid robot for climbing transmission tower

Download PDF
12 pages

Loading next page...
 
/lp/emerald-publishing/a-novel-series-parallel-hybrid-robot-for-climbing-transmission-tower-sAZYBtu8iJ
Publisher
Emerald Publishing
Copyright
© Emerald Publishing Limited
ISSN
0143-991X
DOI
10.1108/ir-01-2021-0011
Publisher site
See Article on Publisher Site

Abstract

The purpose of this paper is to describe the design and development of a novel series-parallel robot, which aims to climb on the transmission tower.Design methodology approachThis study introduces a hybrid robot, which consists of adsorption and two 3-degree of freedom (DOF) translation parallel legs connected by a body linkage. The DOF of the legs ensures that the robot can move on the climbing plane, also contribute to a compact design of the robot. An electromagnet is used to adsorb onto the transmission tower, simplifying the overall structure. Based on the robot design, this paper further defines its climbing gait and adopt the 6th B-spline curves for climbing trajectory planning under different working environments.FindingsThe developed prototype that implements the design of the robot, which was used in simulation and experiments, showing that the robot is capable of climbing in the test environments with the planned climbing gait.Originality valueThe hybrid robot is able to climb under varying degrees of inclinations and cross the obstacles, and the magnetic attraction can ensure stable climbing.

Journal

Industrial Robot: The International Journal of Robotics Research and Application – Emerald Publishing

Published: Aug 19, 2021

Keywords: Climbing robot; Series-parallel hybrid robot; Transmission tower

References

  • Power transmission line inspection robots: a review, trends and challenges for future research
    Alhassan, A.B.; Zhang, X.; Shen, H.; Xu, HJIJoEP.; Systems, E.
  • A climbing parallel robot
    Aracil, R.; Saltaren, R.J.; Reinoso, O.
  • A hybrid pole climbing and manipulating robot with minimum DOFs for construction and service applications
    Armada, M.A.; Tavakoli, M.; Zakerzadeh, M.R.; Vossoughi, G.R.; Bagheri, S.
  • Comparison of four different heuristic optimization algorithms for the inverse kinematics solution of a real 4-DOF serial robot manipulator
    Ayyildiz, M.; Cetinkaya, K.
  • ROMA robots for inspection of steel based infrastructures
    Balaguer, C.; Gimenez, A.; Abderrahim, M.
  • Representation of truss-style structures for autonomous climbing of biped pole-climbing robots
    Chen, W.N.; Gu, S.C.; Zhu, L.; Zhang, H.; Zhu, H.F.; Guan, Y.S.
  • A novel frame climbing robot: frambot
    Chung, W.K.; Xu, Y.
  • Dynamic modeling of parallel robots for computed-torque control implementation
    Codourey, A.
  • Mechanical design of a novel biped climbing and walking robot
    Castelli, V.P.; Schiehlen, W.
  • A modular biped Wall-Climbing robot with high mobility and manipulating function
    Guan, Y.S.; Zhu, H.F.; Wu, W.Q.; Zhou, X.F.; Jiang, L.; Cai, C.W.; Zhang, L.M.; Zhang, H.
  • A mobile robot for locomotion through a 3D periodic lattice environment
    Jenett, B.; Cellucci, D.
  • A survey of mobile robots for distribution power line inspection
    Katrasnik, J.; Pernus, F.; Likar, B.
  • Type synthesis of parallel mechanisms
    Kong, X.; Gosselin, C.M.; Richard, P.L.
  • The inchworm robot: a multi-functional system
    Kotay, K.; Rus, D.
  • Biologically inspired tree-climbing robot with continuum maneuvering mechanism
    Lam, T.L.; Xu, Y.S.
  • Three-Dimensional truss modelling for biped climbing robots
    Lin, W.; Cai, G.; Wei, S.; Gu, S.; Guan, Y.
  • Design and analysis of a climbing robot for pylon maintenance
    Lu, X.L.; Zhao, S.P.; Liu, X.Y.; Wang, Y.S.
  • Pylon-Climber: a novel climbing assistive robot for pylon maintenance
    Lu, X.L.; Zhao, S.P.; Yu, D.P.; Liu, X.Y.
  • Biped walking robot based on a 2-UPU+2-UU parallel mechanism
    Miao, Z.H.; Yao, Y.A.; Kong, X.W.
  • Structure-reconfiguring robots autonomous truss reconfiguration and manipulation
    Nigl, F.; Li, S.G.; Blum, J.E.; Lipson, H.
  • Inverse kinematic analysis of a redundant hybrid climbing robot
    Peidro, A.; Gil, A.; Marin, J.M.; Reinoso, O.
  • A simulation tool to study the kinematics and control of 2RPR-PR parallel robots
    Peidro, A.; Reinoso, O.; Gil, A.; Marin, J.M.; Paya, L.
  • Calculation of the boundaries and barriers of the workspace of a redundant serial-parallel robot using the inverse kinematics
    Peidro, A.; Reinoso, O.; Gil, A.; Marin, J.M.; Paya, L.; Berenguer, Y.
  • 3DCLIMBER: climbing and manipulation over 3D structures
    Tavakoli, M.; Marques, L.; de Almeida, A.T.
  • Cooperative multi-agent mapping of three-dimensional structures for pipeline inspection applications
    Tavakoli, M.; Cabrita, G.; Faria, R.; Marques, L.; de Almeida, A.T.
  • Dynamics evaluation of 2UPU/SP parallel mechanism for a 5-DOF hybrid robot considering gravity
    Wang, X.; Systems, A.
  • Hand-eye-vision based control for an inspection robot's autonomous line grasping
    Wang, W.; Wu, G.P.; Bai, Y.C.; Xiao, H.; Yang, Z.Y.; Yan, Y.; He, Y.; Xu, X.J.; Su, F.
  • Shady3D: a robot that climbs 3D trusses
    Yoon, Y.; Rus, D.