{"title":"Optimization design of the multi-unit serial inspection robot for power transmission line","authors":"Guanghong Tao, L. Fang, Xuxin Lin","doi":"10.1109/CARPI.2016.7745637","DOIUrl":null,"url":null,"abstract":"Regarding the problems that multi-unit serial inspection robot based on parallelogram mechanism(PM) has more driving motors and larger structure size, a novel driving PM method with single motor and cables is proposed based on the kinetic characteristic of parallelogram. Comprehensively concerning the single motor driving method of PM, procedure of crossing obstacle and obstacle size, optimization design results of the robot mechanism parameters were solved out with multi-objective optimization algorithm. The comparison results demonstrate that the optimized robot has less driving motors and its size is reduced clearly.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CARPI.2016.7745637","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
Regarding the problems that multi-unit serial inspection robot based on parallelogram mechanism(PM) has more driving motors and larger structure size, a novel driving PM method with single motor and cables is proposed based on the kinetic characteristic of parallelogram. Comprehensively concerning the single motor driving method of PM, procedure of crossing obstacle and obstacle size, optimization design results of the robot mechanism parameters were solved out with multi-objective optimization algorithm. The comparison results demonstrate that the optimized robot has less driving motors and its size is reduced clearly.
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