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首页> 外文期刊>Mathematical Problems in Engineering >Investigation of Aerodynamic Stability of a Lightweight Dual-Arm Power Transmission Line Inspection Robot under the Influence of Wind
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Investigation of Aerodynamic Stability of a Lightweight Dual-Arm Power Transmission Line Inspection Robot under the Influence of Wind

机译：轻量级双臂输电线路检测机器人气动稳定性的调查

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摘要

To efficiently transmit electric power to consumers, the power lines need to be inspected routinely for early fault detection. Thus, power line inspection robots are designed to replace the tedious and dangerous manual inspection using linemen or helicopters. However, most of the existing inspection robots are heavy, which make them slow and prone to external wind disturbance. This paper developed a lightweight dual-arm robot and investigates its robustness to wind disturbance on a lab-scale power line structure. The dynamic equations of the robot are derived using the Lagrangian equation for appropriate motor selection. Also, the components of the robot are designed to ensure low drag coefficient to wind flow, and the mechanism of the wind force on the robot-line coupled system is presented. To study the real-time impact of the wind, a wind speed of 4.5 m/s representing one of the windiest cities in China is considered as a case study. The experimental results for different wind directions, namely, 0 degrees, 45 degrees, and 90 degrees, show that the maximum vibration is 8% higher than the normal vibration of the system in a controlled environment without wind. The results demonstrate that there is little influence of the wind on the system; hence, the robot has been successfully designed and can be applied for power line inspection.
机译：为了有效地向消费者传输电力，需要常常检查电力线以进行早期故障检测。因此，电力线检测机器人设计用于使用Linemen或直升机代替繁琐和危险的手动检查。然而，大多数现有的检查机器人都很重，这使得它们缓慢而容易出现外部风击。本文开发了轻量级双臂机器人，并在实验室级电力线结构上调查其对风扰动的鲁棒性。机器人的动态方程是使用Lagrangian方程来导出的，以进行适当的电机选择。而且，机器人的部件被设计为确保对风流量的低拖动系数，并且呈现了机器人线耦合系统上的风力的机构。为研究风的实时影响，有4.5米/秒的风速，代表中国最大的城市之一被视为案例研究。不同风向的实验结果，即0度，45度和90度，表明最大振动比无风的受控环境中系统的正常振动高8％。结果表明，风对系统的影响很小;因此，机器人已成功设计，可应用于电力线检查。

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  • 来源
    《Mathematical Problems in Engineering》 |2019年第22期|2139462.1-2139462.16|共16页
  • 作者

    Alhassan Ahmad Bala; Zhang Xiaodong; Shen Haiming; Jian Guo; Xu Haibo; Hamra Khaled;

  • 作者单位

    Xi An Jiao Tong Univ Sch Mech Engn Xian 710049 Peoples R China;

    Xi An Jiao Tong Univ Sch Mech Engn Xian 710049 Peoples R China|Xi An Jiao Tong Univ Shaanxi Prov Key Lab Intelligent Robot Xian 710049 Peoples R China;

    Xi An Jiao Tong Univ Sch Mech Engn Xian 710049 Peoples R China;

    Xi An Jiao Tong Univ Sch Mech Engn Xian 710049 Peoples R China;

    Xi An Jiao Tong Univ Sch Mech Engn Xian 710049 Peoples R China|Xi An Jiao Tong Univ Shaanxi Prov Key Lab Intelligent Robot Xian 710049 Peoples R China;

    Xi An Jiao Tong Univ Sch Mech Engn Xian 710049 Peoples R China;

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