一个简单的机器人机械手,能够协商电源线的硬件

T. Lorimer, E. Boje
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引用次数: 19

摘要

本文提出了一种合理的方法来确定安装在电力线上的检测机器人的自由度,该机器人能够爬过架空导体上的障碍物,包括跳线电缆。还提供了机器人硬件设计的总结,在第一个原型上获得的经验影响了第二个原型的主要设计方面,这反过来又导致了一个更加坚固,面向现场的机器。
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A simple robot manipulator able to negotiate power line hardware
This paper presents a reasoned approach to specifying the number of degrees of freedom on a power line-mounted inspection robot, which is capable of climbing around obstacles found on overhead conductors, including jumper cables. A summary of the robot's hardware design is also provided, with experience gained on a first prototype influencing major design aspects on a second prototype, which in turn has resulted in a far more robust, field-oriented machine.
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