Mechanism Design of an Insulator Cleaning Robot for Suspension Insulator Strings

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	Mechanism Design of an Insulator Cleaning Robot for Suspension Insulator Strings
	Wang L(王林); Wang HG(王洪光); Chang Y(常勇); Pan XA(潘新安); Zhang, Hongzhi
	2015
会议名称	2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
会议日期	December 6-9, 2015
会议地点	Zhuhai, China
页码	2217-2222
中文摘要	Cleaning contaminated insulators is an effective way to protect power transmission lines from accidental power outages caused by flashovers due to wet polluted insulators. Traditional cleaning methods are risky, inefficient, expensive and labor-intensive. This paper presents an insulator cleaning robot mechanism which is mainly consisted of locomotion mechanism, cleaning mechanism and the frame. The structure is introduced and the principles of moving and cleaning are analyzed. The kinematic equations are established. Simulation results of the downward moving process prove the robot is able to move along the suspension insulator string and has such advantages as stability, large load carrying capacity and adaptability to dimensional variations of the insulator.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4673-9674-5
WOS记录号	WOS:000380476200370
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17519]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Wang L,Wang HG,Chang Y,et al. Mechanism Design of an Insulator Cleaning Robot for Suspension Insulator Strings[C]. 见:2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015. Zhuhai, China. December 6-9, 2015.