Impacts of flexible obstructive working environment on dynamic performances of inspection robot for power transmission line

Abstract

The rigid-flexible coupling dynamic modeling and simulation of an inspection robot were conducted to study the influences of the flexible obstructive working environment i.e. overhead transmission line on the robot’s dynamic performance. First, considering the structure of the obstacles and symmetrical mechanism of the robot prototype, four basic subactions were abstracted to fulfill full-path kinematic tasks. Then, a multi-rigid-body dynamic model of the robot was built with Lagrange equation, while a multi-flexible-body dynamic model of a span of line was obtained by combining finite element method (FEM), modal synthesis method and Lagrange equation. The two subsystem models were coupled under rolling along no-obstacle segment and overcoming obstacle poses, and these simulations of three subactions along different spans of line were performed in ADMAS. The simulation results, including the coupling vibration parameters and driving moment of joint motors, show the dynamic performances of the robot along flexible obstructive working path: in flexible obstructive working environment, the robot can fulfill the preset motion goals; it responses slower in more flexible path; the fluctuation of robot as well as driving moment of the corresponding joint in startup and brake region is greater than that in rigid environment; the fluctuation amplitude increases with increasing working environment flexibility.

Keywords

inspection robot / transmission line / obstruction / rigid-flexible coupling dynamics / finite element method / simulation

References

[1] WuG.-p., XiaoX.-h., XiaoH., DaiJ.-c., BaoW.-j., HuJie.. Development of a mobile inspection robot for high voltage transmission lines [J]. Automation of Electric Power System, 2006, 30(6): 91-93

[2] SAWADE J, KUSUMOTO K, MUNAKATA T, MAIKAWA Y, ISHIKAWA Y. A mobile robot for inspection of power transmission lines [J]. IEEE Trans Power Delivery, 1991(1): 309–315.

[3] PEUNGSUNGWAL S, PUNGSIRI B, CHAMNONGTHAI K. Autonomous robot for a power transmission line inspection [C]// 2001 IEEE International Symposium on Circuits and System. Sydney, 2001: 121–124.

[4] MONTAMBAULT S, POULIOT N The HQ lineROVer: Contributing to innovation in transmission line maintenance[C]// IEEE 10th Int Conf in Trans and Dist Construction, Operation live-line Maintenance. Orlando, 2003: 33–40.

[5] WuG.-p., XiaoX.-h., GuoY.-l., HuJ.-cai.. Development of a crawling robot for overhead high-voltage transmission line [J]. China Mechanical Engineering, 2006, 17(2): 237-240

[6] ZhouF.-y., WuA.-g., LiY.-b., WangJ.-d., LiangZ.-ze.. Development of a mobile robot for inspection of high voltage overhead power transmission line [J]. Automation of Electric Power System, 2004, 8(11): 89-91

[7] TANG Li, FANG Li-jin, WANG Hong-guang. Development of an inspection robot control system for 500 kV extra-high voltage power transmission lines [C]// The SICE Annual Conference. Sapporo, 2004: 329–334.

[8] WANG Lu-dan, FANG Li-jin, WANG Hong-guang. Development and control of an autonomously obstacle-navigation inspection robot for extra-high voltage power transmission line [C]// The International Joint Conference of SICE-ICASE. Busan, 2006: 5400–5405.

[9] ZHU Xing-long, WANG Hong-guang, FANG Li-jin, ZHAO Ming-yang. Dual arms running control method of inspection robot based on obliquitous sensor [C]// IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, 2006: 5273–5278.

[10] FU Si-yao, LI Wei-ming, ZHANG Yun-chu, LIANG Zi-ze. HOU Zeng-guang, TAN Min, YE Wen-bo, LIAN Bo, ZOU Qi. Structure-constrained obstacles recognition for power transmission line inspection robot [C]// IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, 2006: 3363–3368.

[11] XiaoX.-h., WuG.-p., DuE., ShiT.-lin.. Dynamics simulation and experimental study of inspection robot for high-voltage transmission-line [J]. Journal of Central South University of Technology, 2005, 12(6): 726-731

[12] XiaoX.-h.Dynamics study of the inspection robot of high-voltage power transmission lines [D], 2005, Wuhan, Huazhong University of Science and Technology

[13] TangH.-p., TangY.-j., TaoG.-an.. Active vibration control of multibody system with quick startup and brake based on active damping [J]. Journal of Central South University of Technology, 2006, 13(4): 417-422

[14] XiaoX.-h., WuG.-p., LiS.-ping.. The rigid-flexible coupling dynamic characteristic between mobile robot along overhang flexible cable and its moving path [J]. WSEAS Transaction on Computers, 2006, 5(3): 521-527

[15] XIAO Xiao-hui, WU Gong-ping, LI San-ping. The coupling simulation of a power transmission line inspection robot with its flexible moving path when overcoming obstacles [C]// IEEE 3rd Int Conf on Automation Science and Engineering. Scottsdale, 2007: 326–331.

[16] GuoY.-l., LiG.-x., YouC.-y.Transmission line galloping [M], 2001, Beijing, Electric Power Press

[17] LuY.-f.Dynamics of flexible multi-body system [M], 1996, Beijing, Higher Education Press

[18] LiB.-z.Construction technology manual of the high-voltage transmission lines [M], 1998, Beijing, Power Press of China

[19] Mechanical Dynamics Inc. Using the ADAMS/View Function Builder [R]. 2002.