TY - GEN
T1 - Design and Experiments of A Climbing Robot for Inspection of Isolated Phase Bus
AU - Su, Haohong
AU - Ji, Ziming
AU - Wang, Tianmiao
AU - Hou, Taogang
AU - Jiang, Buhui
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Isolated phase bus in hydropower stations is characterized by unique pipeline structures, small operating space, and with vertical and horizontal sections. It is very difficult to manual patrol inspection. Therefore, there is an urgent need for a robot that can perform inspection in this special space to replace manual work. In this article, we propose a novel climbing robot. The robot has a flexible wheel leg structure, which can adapt to different sizes of pipe gaps and complete vertical climbing. We have completed the mechanical modeling of the robot and simulated the structural parameters. Therefore, the design parameters of the robot were determined, and the prototype of the robot were manufactured. Walking experiments were conducted to verify the robots walking ability and inspection ability.
AB - Isolated phase bus in hydropower stations is characterized by unique pipeline structures, small operating space, and with vertical and horizontal sections. It is very difficult to manual patrol inspection. Therefore, there is an urgent need for a robot that can perform inspection in this special space to replace manual work. In this article, we propose a novel climbing robot. The robot has a flexible wheel leg structure, which can adapt to different sizes of pipe gaps and complete vertical climbing. We have completed the mechanical modeling of the robot and simulated the structural parameters. Therefore, the design parameters of the robot were determined, and the prototype of the robot were manufactured. Walking experiments were conducted to verify the robots walking ability and inspection ability.
KW - climbing robot
KW - isolated phase bus
KW - mechanical modeling
KW - pipeline patrol inspection
UR - https://www.scopus.com/pages/publications/85173614244
U2 - 10.1109/FRSE58934.2023.00048
DO - 10.1109/FRSE58934.2023.00048
M3 - 会议稿件
AN - SCOPUS:85173614244
T3 - Proceedings - 2023 International Conference on Frontiers of Robotics and Software Engineering, FRSE 2023
SP - 296
EP - 302
BT - Proceedings - 2023 International Conference on Frontiers of Robotics and Software Engineering, FRSE 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 International Conference on Frontiers of Robotics and Software Engineering, FRSE 2023
Y2 - 14 April 2023 through 16 April 2023
ER -