Qiaokang Liang, Yaonan Wang, Dan Zhang, Gianmarc Coppola, and Yunjian Ge
Intelligent robots, transmission lines, robot kinematics, sensor systems and applications, robot control
With the rapid growth of technology, robotic systems have significantly influenced power transmission line maintenance practices over the past few years. This paper presents an innovative design and investigation for a teleoperated mobile robotic system with three arms. The system is capable of performing tasks, such as inspection, maintenance, and deicing for the power transmission grid. Particularly, the design specifications and novel structure of the system are presented. Afterwards, a kinematics analysis is undertaken. For this new system, a four-bar mechanism is introduced for the front and rear arms in order to simplify the kinematics analysis and increase the stiffness of the system. Furthermore, the static stiffness and the mechanisms’ workspace are investigated. An autonomous obstacle-crossing strategy is also proposed to enable the system to perform tasks without human intervention. Finally, a control system that has three layers is introduced for the robotic system.
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