一种斜拉桥缆索检测机器人的设计和有限元分析含6张CAD图
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译文标题： 电力线路检测机器人的设计与开发原文标题：Design and development of a power line inspection robot作者：M. Jayatilaka, M. Shanmugavel, S. V. Ragavan原文出处： Mechatronics, School of Engineering Monash University Malaysia campusBandar Sunway, Malaysia, 46150madhavan.shanmugavel, veera.ragavan1Robonwire: Design and development of a powerline inspection robotMilan Jayatilaka, Madhavan Shanmugavel, S.Veera Ragavan Mechatronics, School of EngineeringMonash University Malaysia campus Bandar Sunway, Malaysia, 46150madhavan.shanmugavel, veera.ragavanAbstractThis paper presents a design of a low-cost, lightweight powerline inspection robot:Robonwire. Though commercial and research robots for inspecting and monitoring powerline are available, the weight of the robot is high and it requires a lot of human effort during set-up and operation. We focus on developing a laboratory scale robot for power line inspection. The robot has three arms and a base frame which houses the electrical and electronic elements to control the locomotion and avoiding obstacles. It uses three powered motors with wheels one for each arm providing the mobility of the robot on the wires. Each arm has two joints. The upper joint connects the arm body to the wheel assembly while the lower one connects the arm body to the base frame. The obstacle avoidance is achieved by lateral rotation of arms in sequence. This paper presents the initial phase of the development in which a robot is built for travelling on wire. The motion planning for obstacle avoidance and simulations for torque requirement analysis of joint motors are also presented.Keywords : Powerline inspection robot; Robot; Robonwire2山西能源学院 学士学位论文文献综述I. INTRODUCTIONModern power distribution networks are unquestionably critical in the progress of any nation. Because, they represent both significant investment and critical resource to every citizen, they necessitate regular inspection and maintenance 22. Currently, manned or autonomous helicopters are used to inspect individual sections of the line, a hazardous and generally expensive process for energy providers. The use of helicopters for powerline inspection has a long tradition 12, 22, 7, while currently, growing use of unmanned aerial vehicles can be seen 3, 20. Thus, it is proposed to develop a low cost, robust, wire scaling robot to conduct the inspections safely and securely under live wire conditions.A recent development in the field of robotics is the use of robots on wires where robots are used for powerline inspection. These robots are designed to perform tasks while moving on a cable or rope. The ability of these robots to operate autonomously or to be remotely operated makes them an attractive solution for jobs involving inspection and maintenance. The advantages of implementing a robot on wires would be (i) Continuous inspection on live-wire: The robot can be left to operate with minimal interference with occasional maintenance, (ii) Low risk: The robot can be put into tele-operation or autonomous mode and inspect hazardous or high value assets without endangering human lives, and (iii) Higher precision and accuracy: The robot may provide operators with a greater quantity of accurate telemetry than would be achievable with periodic inspections.As such, several such application-specific wire robots have been designed in recent years 5, 2, 16, 17, 21, with a majority focussing on high voltage transmission line inspection and suspension cable inspection. However, other applications also exist, for example, (i) structural and cable inspection robots: currently being developed to inspect the suspension cables on bridges and other structures 8, 6, (ii) Power transmission inspection 14, 16, (iii) Surveillance: Robotic surveillance along wires would allow for a wider surveillance field than static mounted cameras and sensors 24, and (iv) Research: Robots that are designed to travel along power lines can also be re-purposed to monitor the sizable land areas over which they travel. This data can be used for forestry research, remote observation, or crop monitoring.3The scope of this work is limited to modelling design and development of a robotic platform and the accompanying electronics necessary for its motion on the wire. This is the initial phase of the research which focus on design and development of locomotion mechanism and kinematic analysis. The main contributions of this paper are:A laboratory prototype robotic platform is designed forpowerline inspection with three arms with wheels for traversing on the powerline.Kinematic and dynamic analysis of the robot is achievedfor torque requirements.The design is focussed on avoiding the largest obstacle: aircraft warning ball while the robot will roll over the smaller.A laboratory scale working prototype is developed forpreliminary testing and experiments.Arduino based controller is developed for motion controlThe paper is organized as follows: The next section II discusses the relevant literature in powerline inspection robot and it discusses a review of existing design solutions from locomotion standpoint. A brief consideration will be given to articles on the modelling the robot locomotion. The section III discusses the physical design and individual subcomponents of Robonwire. The section IV presents the sequence of motions of arms for avoiding obstacles along with state machine for avoiding obstacle. A simulation study for calculating torque requirements are presented with kinematic and dynamic analysis of the robot in section V. The paper ends with discussions and conclusions in VI.II. RELEVANT WORK IN POWERLINE INSPECTION ROBOTSRecently, a significant effort in making powerline inspection robot is seen by industries: Hydro-Quebec, HiBot Corp., and collaborating Universities. Traditionally, the transmission line is inspected through visual observation, thermal sensor, by climbing up the tower and foot patrol. The high voltage lines are monitored by helicopter assisted inspection. These methods pose high risk to the operators and line-men and also inspecting network of powerlines is a time consuming and monotonous job. A recent survey 9, 10 discusses the different types of faults, types of robots used for inspection.Proceedings of the 1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM2013), IIT Roorkee, India, Dec 18-20 20139A. LineScountThe LineScout (Fig. 1) weighs 100 Kg is developed by Hydro-Quebec for live line inspection 13, 15, 16. It comprises three sections: a wheel frame, a centre frame, and the arm frame. While facing the obstacle, the robot extends the arm frame along the line until it bridged the obstacle, and the raised arms grip the line. Following this, the wheel frame retracts the wheels. The linear actuators shift the center frame forward along the arm frame and then the wheel frame is shifted further until both wheels were clear off the obstacle. The wheel frame remount its wheels on the line. Finally, the clamps are released, and the arm frame retracts and is shifted back. The robot continues along its inspection route.Fig. 1.LineScoutObstacle Avoidance16The design of LineScount utilizes rolling motion, which enables the robot to simply roll over small obstacles instead of being forced to avoid them. Apart from the safety clamps, the LineScout did not need to couple or decouple with the line because motion of the frames are parallel to the powerline. The wheel frame need only be collapsed or raised. The c.g. of the robot is shifted by sliding the arm and wheel frames in the centre frame. This minimize the cantilever effect during obstacle avoidance.B. ExplinerThe Expliner robot (Fig. 2) weighs 84 Kg was developed as a collaboration between the Tokyo Institute of Technology, the Kansai Power Corporation and the HiBot Corporation, from Japan 4. It has two drive axles with two wheel frames ineach. The wheels are driven independently by servo motors. The axles serve as linkages in the robot, and a separate arm carries a counterweight. The Expliner is rolling over smaller obstacles, while for larger obstacles it pivots on the rear set of the wheels by moving the counterweight. This lifts the front wheels off the line. Now, the front axle is rotated so it is parallel to the line. The entire frame is moved forward till the front axle is clear of the obstacle. The process is repeated with the rear axle by pivot on the front axle, and by moving the counterweight forward. When both wheels are clear of the obstacle, the robot continues along. The method the Expliner used to traverse obstacles allowed it, like the LineScount to forgo any coupling mechanism: safety clamps. The robot cannot run on other than dual lines, therefore limiting the operation of the robot.Fig. 2.Expliner Obstacle Avoidance 4C. Mobile Robot for Inspection of Power LinesAn older solution 17 to the problem of the line inspection is shown in Fig. 3. The premise of the article is that, for a fully functioning power line inspection robot, the design must be able to traverse the largest obstacle on the line: the towers connected by the lines. Because of the suspended insulator for transmission lines employed in British Columbia, the LineScout was able to easily travel across towers using its existing obstacle avoidance technology. However, when the insulators hold the line to the tower axially, the two combined insulators form an obstacle too large for most robots. This robot has a fold-able frame which, when unfolded, would be large enough to attach to the tower and move around the insulators to the line on the other side. Much like the LineScout, the frame would remain collapsed until such time as it was needed. However, the paper claimed to have highest power to weight ratio with an internal combustion engine.Fig. 3.Mobile robot for power line inspection 17This robot effectively solves one of the biggest problems in live line inspection. However, given the objectives of this project, designing and building a frame that large would add a great deal of weight to the robot, and thereby necessitate a more powerful drive system.D. Cable CrawlerThe robotic solution Fig. 4 built by ETH Zurich 2 is significantly larger than the above three designs. The cable crawler travels on a single cable at the top of the mast of electrical tower. The goal of this design was to achieve complete freedom along the line by reducing the number of actuators. The robot has large horizontal rollers in both its front and rear drive units. These drive units held the rollers to the lines using spring loaded clamps that enabled the drive units to widen when passing over the mast head. An additional drive segment was mounted in the middle and used to drive the robot over the masthead itself. The robot had sensor payloads on either side encapsulated in clear PVC spheres.Fig. 4.Cable Crawler 2The cable crawler is capable of continuous motion through the line; no obstacle avoidance was necessary because the guide wire upon which the robot moved did not have any obstacles. The smaller ones could be rolled over. Inaddition, this setup required merely three motors. Nevertheless, there were some drawbacks. The design limited the accessibility of the robot to just the guide wire. Even with the reduced amount of actuators, the design would still expend more power due to its size.E. Transmission Line Sleeve Inspection RobotThis robot is developed by by Korea Electric Power Research Institute 11. In contrast to the above robots, it is designed to measure electromagnetic emissions on the line. The robot consists of two parts: drives and the sensor payload. The sensor payload mount connects to two drives, which are concave caterpillar treads that hug the line. An outer groove of flexible spines helps to keep the robot on the line. This robot is not suitable for long distance line movement. There are no mechanisms to avoid large obstacles. In addition, the robot is very small, and may not be capable of carrying a suitable sensor payload. For its purpose, the robot is well suites. However, it may be difficult to apply the robot to full scale line work.F. Bipedal Line Walking RobotA team of Kunshan Institute of Industry Research and University of Hamburg developed an elegant bipedal walking robot for powerline inspection 21. The robot is shown in Fig. 5 composed of three segments: two legs, a waist and a body. The waist of the robot is comprised of a revolute joint mounted on the two prismatic joints of each leg. This allows the waist to translate along each leg. At the end of each leg is a revolute joint that allows the robot to position its feet on the line. The robot has two locomotion gaits: a flipper stride in which the robot lifts its legs in a striding motion and a crawling stride in which the feet are shuffled along the line.Fig. 5.Biped Line Walking Robot - CAD representation 21The waist actuators are close to the center of mass, thereby minimizing torque on the waist actuators and creating lower power consumption. Coupled with the fact that the obstacle avoidance methodology of this robot is a few motions similar to its flipper gait make this design very compelling. However, smooth control of this robot necessitates a fifth order polynomial incorporating joint position, velocity and acceleration.G. Robotic Inspection Over Power Lines (RIOL)The RIOL is developed by Institute for Systems and Robotics - Lisbon 18,19 uses gait locomotion. The robot has five degrees of freedom articulated multi-body with a single prismatic arm in the middle. The robot moves along the line by looping two of its claws around the line, the rear initially clamped securely and the front loosely. Both links are then extended, thus shifting the front claw along the line. Once this is complete, the front claw clamps securely and the rear one relaxes. The two links retract, and the rear claw is pulled forward.Fig. 6.RIOL Robot - CAD representation 18To avoid obstacles, the robot uses a stable form of the brachiation gait 19, a motion commonly employed by gibbons and other primates of interchanging swinging arms for locomotion. The stable method is to have the prismatic arm ofthe robot clamp the line and then lower front arm. The robot then moves forward, shifting the front arm clear of the obstacle. Once this is complete, the middle arm disengages and the robot moves it clear of the obstacle. Once on the other side, the robot reattaches the middle arm, and then disengages the rear arm. It moves the rear arm clear of the obstacle, and then reattaches it and disengages the middle arm. By always having an intermediary connection to the line, the robot is able to swing its forward arm securely past the obstacle.H. Inspection robot for high-voltage transmission-lineCentral South University of Technology, China is developing a mobile robot for powerline inspection 23. It has two arms with two revolute joints each and a wheel drives mounted their ends. The arms are connected to the base by a prismatic joint, which allows each arm to be extended to a certain extent. It is claimed that the experimental and simulated results are identical and this may be due to friction was not considered in dynamic model.I. Comments & summary of existing robotsThe design of powerline inspection robot is relatively young research area. It is interesting to note that the operational environment is well defined, especially the powerline structure, and obstacles. The primary challenge is the design of a mechanism which can provide continuous motion on the wire and obstacle negotiation. The two widely used designs are: gait motion or rolling motion. Another challenge is power to weight to ratio. The weights of most of the robots are not available, and the two major commercial robots: Linescout and Expliner are too heavy to handle. In view of the above limitations, we develop a laboratory scaled Robonwire for powerline inspection robot.III. DESIGN AND DEVELOPMENT OF ROBOT ON WIRE (ROBONWIRE)The Robonwire (Robot on wire) is a powerline inspection robot with wheels and arms mechanisms for locomotion, and obstacle avoidance, because the rolling motion has been proven to be faster and more secure. The obstacle avoidance is achieved through retracting and engaging the arms sequentially. Currently, the development is in its initial phase with the focus characterising the locomotion and obstacle avoidance.19Robonwire - CAD ModelRobonwire - PrototypeFig. 7.Robonwire - Robon on wireThe Robonwire prototype is shown in Fig. 7 consists of a base frame on which three arms are mounted. The base frame houses the control equipment, and power pack. Each arm is a two-link structure and their joints are driven by a high-torque worm gear assembly. The choice was made for a worm assembly because of the gearboxs inherent selflocking nature and the worm gear has high-torque ratio. In addition, the gearbox could be driven by a standard, low power DC motor, instead of a high powered servo-motor. The drive motors are direct drive planetary gear DC motors with built in encoders for localization. In addition, each wheel has a safety clamp for stability and security. The clamp closes when the robot is rolling along the wire and makes sure that it does not slip off the line. The gap between each arm is the maximum obstacle size the robot can accommodate; the arm length is also half of this distance. The biggest obstacles generally found on transmission lines are aircraft markers. These are spherical in shape and measure about 0.75m in diameter 13. Therefore, while the robot has to accommodate for the diameter of the sphere laterally, it only has to account for the radius height-wise). TheRobonwire prototype reduces the number of moving parts like prismatic joint in Linescout and more number of linkages in bipedal mechanism or Expliner. The robot uses simple base frame mounted with three arms with two links. The robot is controlled through Arduino Mega 2560 1.A. Arm designThe arm of the robot is shown in Fig. 8. It is designed as a modular unit. The arms are designed to mount the wheels on the line without any coupling or claw mechanisms. The arm is a two degree of freedom, 3-bar linkage which helps to position the wheel on the line. The arm is eccentric at the base so that during obstacle avoidance, the arm may be shifted directly under the body (for a largest obstacle like aircraft warning ball) of the robot, to maintain the center of gravity.Each arm has three parts: a base bracket, the arm body and the wheel mount. The base bracket is mounted onto the base frame. It is connected to the arm body through a joint (LowerJoint). The base bracket houses the lower joint actuator. The arm body is the main part of the arm and carries the wheel mount at its top through a joint (Upper-Joint). The wheel mount is designed similar to the base bracket and it houses the drive mechanism of the wheel. In addition and as with the base bracket, it also holds the upper joint actuator. For all the joints, a potentiometer feedback system is employed for position control of the arm. In addition to the drive, the wheel mount also houses the safety clamp. This ensures the robot stays on the line during adverse conditions. It also enables the robot to rigidly grip the line while dismounting and reattaching manoeuvres.Fig. 8.CAD model of Arm, clamp, and wheel-clamp assemblyEach arm has its own control unit for joint actuators, drive motor and safety clamp servo. Any one controller may be used as a master controller and provide commands to the remaining arms. Since this design is a general purpose robotic platform, the master controller may be modified to accept commands from another,higher level processor. Moreover, the joints are actuated only when the larger obstacles have to be avoided. Otherwise, only the motors for wheels will be powered for locomotion.B. Safety Clamp DesignThe robot has one safety clamp shown in Fig. 8 for each arm. The safety clamp is responsible for securing the robot to the line. The clamp is composed of two hooks mounted to a servo and its accompanying bracket. The position of the servo determines the strength of the clamping. For gripping the line during obstacle avoidance, the position of the servo may be heightened. Under normal circumstances for rolling down the line, it may position lower. For the obstacle avoidance, the clamp is essential to prevent the robot from tilting too far off the line and thereby losing grip. From a modelling standpoint, the clamps are enabled during the transition of the robot to overcome obstacles and therefore allow for an assumption to be made: during transition, the robot arms are rigidly attached to the line. As visible in the subsequent sections, this assumption allows for a collapsed, extremely simplified dynamic model that only takes into account of a single arm at a time.C. Wheel designThe wheel design is shown in Fig. 9. Initially, the design was focused on creating an inner surface that remained tangent to the line itself. Therefore, the wheel would have been constructed from vulcanized rubber of some nature. However, this proved inefficient, as sufficient traction became an increasingly evident problem. In addition, the fabrication method was not feasible. Thus, a machined solution was required.Fig. 9.Wheel design - CAD modelThe new wheel design is conical with an inner lining of rubber added to provide the necessary traction. The traction force on the wheel is proportional to the cosine of the cone angle () from the normal with coefficient of friction . The reaction forces (FN1 + FN2) is proportional to the normal force (FN) 16: (1)Therefore, the acuteness of the angle is optimized to accommodate more cable diameters and the traction force. As a compromise, the angle = 45 degrees was set for a maximum usable cable diameter of up to 25 mm.IV. OBSTACLE AVOIDANCE METHODOLOGYThe CAD representation of obstacle avoidance and the state machine to execute the obstacle avoidance are shown respectively in Fig. 10 and in Fig. 11. The obstacle avoidance methodology is shown with transitions of robots arms around the obstacle. The robot is designed to detach the arm closest to the obstacle. The arm folds underneath the robot to maintain the centre of gravity of the robot. The robot will use the remaining two wheels to move the entire assembly until the front arm is clear of the obstacle. Once this is complete, the robot remounts its forward wheel to the line. This is done for the remaining arms until all three are clear of the obstacle. Refer to Fig. 10. When an obstacle is encountered, the robot will release the safety grips from the line. It will then dismount the wheels from the line. Both joints rotate until the wheel is flush with the robots body and located directly underneath the body (only for the largest obstacle - aircraft warning ball). Once this is complete, the robot uses the drives that are still on the line to move the entire robot, including the folded front arm, clear of the obstacle. Once the forward arm is remounted on the line, the process is repeated for the two remaining arms until all three of the arms are clear of the obstacle.Fig. 10.CAD representations of obstacle avoidance manoeuvresThe state machine in Fig. 11 shows the sequence of actions required to avoid the obstacle by one arm. To remount the line, the robot will rotate the forward arm counter clockwise while unfolding the wheel mount. Sensors placed on the wheelmount will detect the presence of the line. Once the line is detected by the lateral sensor, the arm body will stopFig. 11.State Machine for Obstacle Avoidancerotating. A second sensor will detect the presence of the line vertically and will stop the upper joint. The flag elements for the other two arms are used to release their safety clamp from a stiff grip. The motion sequence of single arm is represented by C + (JU+,JL+),FW+,(JU,JL), where C,JU,JL,FW represent respectively clamp, upper joint, lower joint, forward motion, and symbol + represents open and represents close. The process continues for each arm.It is proposed that each arm be controlled individually, with the flag bits transmitted over a serial interface. In this way, the state machine described here could be implemented on each microcontroller and the entire operation could be slaved to a higher level controller for tele-operation or feedback. However, the benefits of such a system did not outweigh those of a conventional single controller system. As such, the prototype system will be controlled by an Arduino Mega 2560. The proposed state machine will still provide a programming framework for the project.V. MODELLING & SIMULATIONSA single arm of the Robonwire is essentially a two-link planar manipulator with an eccentric base shown in Fig. 12. The corresponding Denavit-Hartenberg parameters are given in table I. A kinematic model for a single link can begenerated based on the assumption that the robot is rigidly attached to the line during obstacle avoidance. As such, the kinematic and dynamic analysis of this robot arm only pertain to the obstacle avoidance phase, in which the robot is either removing or positioning a wheel on the line.The transformation of a two link manipulator with eccen-Fig. 12.Kinematics of arm TABLE IDH PARAMETERSOFARMLinki1ai1dii10l101+120l20230l300tric base is as follows:cos()sin()sin(112)cos()l2 cos(1 + 1) + l3 cos()l2 cos(1 1) +0l3 cos()00001(2)where 1 is the offset angle between the base of the bracket and the arm joint, 1, 2 are joint variables, and l2,l2,l3 are the lengths of the base bracket, arm body and wheel mount respectively and = 1 + 12, and 12 = 1 + 2.Thus, the Jacobian J is given by: (3)where Then the joint torques can be computed as: = JT(1,2)F (4)Given the nature of the robot, the forward motion of the robot with the folded arm clear off the obstacle may be modelled as a single prismatic joint, with infinite length. However, for the remount and dismount motions, the above model of a single arm is sufficient.In order to develop the controller for the system, the equation of motion of the arm is derived using Lagrangian analysis.Let ri be the center of mass for link i using the link frame, Ii be the inertial tensor for link i acting at the Centre of Mass (CM), and mi be the mass of link i acting at the CM. The positions and velocities of the link CMs are:x2 =l1 cos1 + r2 cos1(5a)y2 =l1 sin1 + r2 sin1(5 b)x3 =l1 cos1 + l2 cos1(5+ r3 cos(12)c)y3 =l1 sin1 + l2 sin1 +(5r3 sin(12)d)where 12 = 1 + 2(6x2 = r2 sin11a)y2 =r2 cos11(6 b)x3=(l2sin1+r3(6sin(12)1 r3 sin(12)2c)y3 =(l2cos1+r3(6cos(12)1 + r3 cos(12)2d)Thekineticenergyofthe system is:where vi2 = x2i + yi2.(7)2.Since the arm is constrained in x y plane, Ii = Iiz, 2 = 2, and 3 = 1 +Kinetic energy:Potential energy: X(9)P = mighi = m1gr1 sin(1) + m2g(l1 + r2s1)+ (10)m3g(l1 + l2s1) + r3s1,2)Using the above two equations in Lagrangian equation of motion: (11)where L = T P is Lagrangian, 1(m2r22 + m3l2 + 2l2m3c2 + m3r32 + I3z)+ 12(l2m3s2)+ 2(m3r32 + I3z) m2gr2c1 m3g(l2c1 + r3c1) = 0 2(I2z + m3r32 + I3z) + 12m3l2s2 + 1(m3l2c2 + m3r32+I3z) m3gr3c2 = 0 (12)where c2 = cos2,c1 = cos1,s1 = sin1,s2 = sin2The torque requirements are simulated using the data from SolidWorks R . It is found that the torque requirement of the upper joint is lesser than the lower motor. Intuitively, this is correct and hence the design is validated. This helps in selection of motors asFig. 13.Torque of upper actuator joint for 180 degree motionFig. 14.Torque of lower actuator joint for 180 degree motiondescribed in Sec. III. The calculated moment of inertia (gm-sqmm) of arm from the CAD model is:VI. DISCUSSIONS & CONCLUSIONSThis paper presents initial design of prototype of a powerline inspection robot: Robonwire. The aim of the robot design is to make it low-cost & lightweight. In this phase, a robot is built for travelling on wire. A detailed design for motion and sequence of control for obstacle avoidance is presented. The design modelling and analysis of single arm has been completed. Torque requirements for robot joints are simulated with CAD data. It conforms to the design requirement that the lower joint needs higher torque than the upper joint. The prototype robot is able to travel on the wire. Currently, sensor based obstacle avoidance and shifting of robots centre of mass during obstacle avoidance are under study. Sensor integration, navigation, and telematics are planned for future developments. It is believed that this design will be a more effective solution to the problems that line working robots to maintain and inspect widespread transmission lines. In addition, optimization of design, motion sequence and sensors and actuators are planned in future to make this robot platform robust and cost-effective.REFERENCES1 Arduino. Microcontroller: Arduino mega 2560. Online. Available: http:/arduino.cc/en/Main/arduinoBoardMega25602M. Buringer, J. Berchtold, M. Buchel, C. Dold, M. Butikofer, M. Feurstein,W. Fischer, C. Bermes, and R. 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Tavares, “RIOL - robotic inspection over power lines,” in Proceedings of the 6th IFAC Symposium on Intelligent Autonomous Vehicles, Toulouse, France, 2004.20 S.Hrabar, T.Merz, and D.Frousheger, “Development of an autonomous helicopter for aerial powerline inspections,” in 1st International Conference on Applied Robotics for the Power Industry (CARPI), 2010.21 L. Wang, F. Liu, Xu, S. Xu, Z. Wang, S. Cheng, and J. Zhang, “Design, modelling and control of a bipedal line-walking robot,” International22 Journal of Advanced Robotic Systems, vol. 7, no. 4, pp. 39 47, 2010.23 G. S. Wilton, T. S. Ormiston, and R. A. Allan, “Modern transmissionline maintenance,” in Proceedings of IEE, vol. 114, no. 7, 1967.24 X. Xiao, G. Xiao, G. Wu, and T. Shi, “Dynamic simulation and experimental study of inspection robot for high-voltage transmissionline,” Journal of Central South University of Technology, vol. 12, no. 6, pp. 726 731, 2005.Robonwire:电力线路检测机器人的设计与开发Milan Jayatilaka, Madhavan Shanmugavel, S.V eera Ragavan马来西亚莫纳什大学工程学院机电工程系 Bandar Sunway，马来西亚摘要本文介绍了一种低成本、轻量化的电力线检测机器人:Robonwire。虽然用于检查和监控电力线的商用和研究型机器人已经有了，但是机器人的重量很高，而且在安装和操作过程中需要大量的人力。重点研究了一种实验室规模的电力线路检测机器人。该机器人有三个手臂和一个安装有电气和电子元件的基本框架，以控制运动和避开障碍物。它使用三个动力马达，每个手臂有一个轮子，为机器人在电线上提供移动能力。每只胳膊有两个关节。上端接头将臂体连接到车轮总成，下端接头将臂体连接到基架。通过机械臂的横向旋转来实现避障。本文介绍了在电线上行走的机器人的发展的初始阶段。给出了关节电机避障运动规划和转矩需求仿真分析。关键词：电力线检测机器人;机器人;RobonwireI.背景现代配电网无疑对任何国家的发展都至关重要。因为，他们代表了重要的投资和关键的资源，每个公民，他们需要定期检查和维护22 。目前，人们使用有人驾驶或自动驾驶直升机来检查线路的各个部分，这对能源供应商来说是一个危险且通常昂贵的过程。使用直升机进行电力线检测的传统由来已久，有12-22-7 ，而目前越来越多的使用无人机，可以看到3-20 。因此，提出开发一种低成本、健壮的线材缩放机器人，以在带电线材条件下安全地进行检测。机器人领域的最新发展是在电线上使用机器人，机器人用于电线检查。这些机器人被设计成在缆绳或绳索上移动时执行任务。这些机器人能够自动操作或远程操作，这使它们成为涉及检查和维护工作的一个有吸引力的解决方案。电线上实现机器人的优势将是(我)连续检查左边前卫:机器人可以让操作以最小的干扰偶尔的维护,(2)低风险:机器人可以放在指令或自治模式、检查危险或高价值资产没有危及生命,和(3)更高的精度和准确性:机器人可以为操作人员提供比定期检查更准确的遥测数据。因此，近年来已经设计出了几种此类应用专用的电线机器人5-2-16-17-21 ，其中大部分集中在高压输电线路检测和悬挂电缆检测上。然而,其他应用程序也存在, 例如,(i)结构和电缆检查机器人:目前正在开发检查吊索桥和其他结构8-6 ,(ii)电力传输检测14-16 ,(iii)监测:机器人沿着电线将允许更广泛的监视监测领域比静态安装摄像机和传感器24 ,及(iv)研究:被设计成沿着电线行走的机器人也可以被重新用于监控它们所行走的大面积土地。这些数据可用于林业研究、远程观测或作物监测。这项工作的范围仅限于机器人平台的建模、设计和开发，以及其在导线上运动所需的配套电子设备。这是研究的初始阶段，主要集中在运动机构的设计和开发以及运动分析。本文的主要贡献有:(i) 设计了一个实验室机器人原型平台，用于检查电力线，有三个带轮子的手臂，以便在电力线上行走。(ii) 针对转矩要求，对机器人进行运动学和动力学分析。(iii) 设计重点是避开最大的障碍物:飞机警告球，同时机器人会滚过较小的障碍物。(iv) 开发了实验室规模的工作原型，用于初步测试和实验。29(v)基于 Arduino 的控制器用于运动控制论文组织如下:第二部分讨论了电力线检测机器人的相关文献，并从运动的角度对现有的设计方案进行了回顾。关于机器人运动建模的文章将给予简要的考虑。第三节讨论 Robonwire 的物理设计和各个子组件。第四部分给出了手臂避障运动的顺序和状态机避障运动的顺序。第五节给出了计算力矩需求的仿真研究， 并对机器人进行了运动学和动力学分析。最后在第六节给出了讨论和结论。II.电力线检测机器人相关工作最近，在制造电力线检测机器人方面的重大努力被多个行业所看到:魁北克hydro 公司、HiBot 公司和合作大学。传统的输电线路检查方法是通过目视观察、热传感器、爬上铁塔、徒步巡逻等方式进行。高压电线由直升机协助检查进行监测。这些方法对操作人员和线路员构成了很高的风险，而且电力线网络检测工作费时而单调。最近的一项调查9，10讨论了不同类型的故障，用于检查的机器人类型。A. LineScountLineScout(图 1)重达 100 公斤，是由 Hydro-Quebec 公司开发的，用于在线检测13-15-16 。它由三部分组成:轮架、中心架和臂架。面对障碍物时，机器人沿直线伸展臂架，直到越过障碍物，举起的手臂抓住直线。在此之后，轮架收回车轮。线性执行机构沿臂架向前移动中心架，然后进一步移动轮架，直到两个轮子都被清除出障碍物。轮架将轮子重新安装到线上。最后，松开夹钳，臂架缩回并移回。机器人沿着它的检查路线继续前进。图 1LineScout 避障16linecount 的设计利用了滚动运动，使机器人能够简单地滚动过小障碍物，而不是被迫避开它们。除了安全夹，LineScout 不需要与线路耦合或解耦，因为框架的运动与电力线平行。车轮架只需要折叠或抬高。机器人的计算机绘图是通过移动中间架的臂架和轮架来实现的。这将最小化在避障过程中的悬臂效应。B. Expliner“解释者”机器人(图 2)重 84 公斤，是由东京工业大学、关西电力公司和来自日本4的 HiBot 公司合作开发的。它有两个驱动轴，每个轴上有两个轮架。车轮由伺服电机独立驱动。这些轴在机器人中起着连杆的作用，另一个独立的手臂携带平衡物。“解释者”在较小的障碍物上滚动，而对于较大的障碍物，“解释者”通过移动平衡物在后轮上转动。这使前轮脱离了生产线。现在，前轴旋转，使它平行于直线。整个车架向前移动，直到前轴脱离障碍物。通过前桥上的枢轴和向前移动平衡块，在后桥上重复这一过程。当两个轮子都离开障碍物后，机器人继续前进。解释者用来穿越障碍的方法允许它，比如 linecount 放弃任何耦合机制:安全夹。机器人只能在双线上运行，因此限制了机器人的操作。图 2 回避障碍4C. 移动机器人检查输电线图 3 显示了一种老式的17 检测法。本文的前提是，对于一个功能齐全的电力线路检测机器人，其设计必须能够穿越线路上最大的障碍:由线路连接的塔。由于不列颠哥伦比亚省的输电线路采用了悬浮绝缘体，LineScout 能够使用现有的避障技术轻松地穿越输电塔。然而，当绝缘体沿轴向支撑线路至铁塔时，两个组合的绝缘体构成了对大多数机器人来说过大的障碍。这个机器人有一个可折叠的框架，当展开时，这个框架足够大，可以连接到塔上，并绕着绝缘体移动到另一边的线上。就像 LineScout 一样，框架会一直保持坍塌状态，直到需要的时候。然而，该论文声称使用内燃机的功率重量比最高。图 3 输电线检测移动机器人17该机器人有效地解决了带电线路检测的一大难题。然而，考虑到这个项目的目标，设计和建造一个大框架会增加机器人的大量重量，因此需要一个更强大的驱动系统。D. 电缆履带2图 4 由苏黎世 ETH设计的机器人解决方案明显大于上述三种设计。电缆爬行器在电力塔桅杆顶部的一根电缆上行走。该设计的目标是通过减少驱动器的数量来实现沿路线的完全自由。机器人的前后驱动单元都有大型水平滚轮。这些驱动单元使用弹簧加载夹具将滚子固定在管线上，使驱动单元在越过井架头时能够加宽。一个额外的驱动部分安装在中间，用于驱动机器人在报头本身。机器人两侧的传感器载荷都包裹在透明的聚氯乙烯球体中。图 4 电缆履带2所述电缆履带能够在线路上连续运动;由于机器人移动所依赖的导丝没有任何障碍，所以不需要避障。较小的可以翻转。此外，这种设置只需要三个马达。然而，也有一些缺点。该设计将机器人的可及性限制在导丝上。即使在驱动器数量减少的情况下，由于其尺寸，该设计仍将消耗更多的功率。E. 输电线路套巡检机器人这个机器人是由韩国电力研究所11 研发的。与上面的机器人不同，它被设计用来测量线上的电磁辐射。该机器人由两部分组成:驱动器和传感器负载。传感器有效载荷安装连接到两个驱动器，这是凹履带，拥抱线。一个有柔性棘刺的外槽有助于保持机器人在直线上。这种机器人不适合长距离的直线移动。没有任何机制可以避免巨大的障碍。此外，机器人非常小，可能无法携带合适的传感器负载。就其用途而言，这个机器人是很好的套件。然而，将机器人应用于全面的生产线工作可能是困难的。F. 双足直线行走机器人昆山工业研究院和汉堡大学的研究团队开发了一种用于电力线检测的优雅双足步行机器人21 。如图 5 所示，该机器人由两条腿、一个腰部和一个身体三个部分组成。机器人的腰部由一个转动关节组成，转动关节安装在每条腿的两个移动关节上。这使得腰部可以沿着每条腿移动。在每条腿的末端都有一个转动关节，可以让机器人的脚在线上定位。该机器人有两种运动步态:一种是脚蹼式步幅，即机器人以步幅动作抬起双腿;另一种是爬行式步幅，即机器人的脚沿着直线拖曳。图 5 两足步行机器人- CAD 表示21腰部执行器靠近质心，从而减少腰部执行器上的扭矩，降低功耗。再加上该机器人的避障方法是一些类似于其脚蹼步态的运动，使得该设计非常引人注目。然而，该机器人的平滑控制需要一个包含关节位置、速度和加速度的五阶多项式。G. 电力线路的机器人检查(RIOL)RIOL 是由系统和机器人研究所开发的，里斯本18-19 使用步态运动。该机器人具有 5 个自由度的铰接多体，中间只有一个移动臂。机器人用它的两个爪子绕着线移动，后部最初紧紧夹住，前部松松地夹住。然后两个环节都被延长，从而移动前爪沿线。一旦完成，前爪固定牢固，后爪放松。两个连杆缩回，后爪向前拉。图 6RIOL 机器人- CAD 表示1819为了避开障碍物，该机器人采用了一种稳定的 brachition 步态，这是长臂猿和其他灵长类动物经常使用的一种交替摆动手臂来移动的动作。稳定的方法是让机器人的棱柱臂夹住直线，然后放下前臂。然后机器人向前移动，移动前臂避开障碍物。一旦完成，中间的手臂就会松开，机器人将它移出障碍物。一旦到达另一边，机器人将重新接上中臂，然后将后臂脱离。它将后臂移出障碍物，然后将后臂接上并将中臂脱开。通过与线路的中间连接，机器人能够安全地摆动它的前臂越过障碍。H. 高压输电线路检测机器人中国中南工业大学正在研制一种移动电力线检测机器人23 。它有两个手臂，每个手臂都有两个转动关节，末端装有一个轮子驱动器。臂通过一个移动关节与底座连接，使每一个臂都能伸展到一定程度。实验结果与模拟结果基本一致，这可能是由于在动力学模型中没有考虑摩擦所致。I.现有机器人的评论和总结电力线检测机器人的设计是一个比较年轻的研究领域。有趣的是，操作环境得到了很好的定义，特别是电力线结构和障碍。主要的挑战是设计一种机构，可以提供电线上的连续运动和障碍通过。两种广泛使用的设计是:步态运动或滚动运动。另一个挑战是力量与重量的比例。大多数机器人的重量都是不可用的，两种主要的商用机器人:Linescout 和 Expliner 都太重了，难以操作。针对以上局限性，我们开发了一种实验室规模的电力线检测机器人 Robonwire。II.线上机器人的设计与开发(ROBONWIRE)Robonwire (Robot onwire)是一种电力线检测机器人，带有车轮和手臂机构， 用于运动和避障，因为滚动运动已被证明更快和更安全。避障是通过依次收回和接合手臂来实现的。目前，该技术的发展还处于起步阶段，研究重点集中在运动和避障方面。(a) Robonwire - CAD 模型(b) Robonwire -原型图 7Robonwire - Robon on wireRobonwire 原型如图 7 所示，它由一个安装有三个手臂的基础框架组成。基本框架包含控制设备和动力组件。每个臂是一个两连杆结构和他们的关节是由一个大扭矩蜗轮组件驱动。由于齿轮箱具有自锁特性，且蜗轮具有较大的转矩比， 因此选择了蜗杆总成。此外，变速箱可以由一个标准的，低功率直流电机驱动， 而不是一个大功率的伺服电机。驱动电机是直接驱动行星齿轮直流电机，内置编码器定位。此外，每个车轮都有一个安全夹，以稳定和安全。当机器人沿着电线滚动时，夹钳会关闭，以确保它不会滑出电线。每个手臂之间的间隙是机器人能够容纳的最大障碍物尺寸;臂长也是这个距离的一半。输电线路上的最大障碍通常是飞机标记。这些是球形的，直径约 0.75 米13 。因此，虽然机器人必须在横向上适应球体的直径，但它只需要考虑高度方面的半径)。Robonwire 原型减少直线探测仪中移动关节等运动部件的数量，以及双足机构或解释器中更多连杆机构的数量。该机器人使用简单的基础框架，配有三个带有两个连杆的手臂。通过 Arduino Mega 2560 1 控制机器人。I. 臂设计机器人的手臂如图 8 所示。它被设计成一个模块化单元。该手臂的设计，以安装车轮上的线没有任何耦合或爪机构。手臂是一个 2 个自由度，3 杆的连杆机构，它有助于在直线上定位车轮。手臂在底座处偏心，在避障过程中，手臂可以直接移动到机器人身体的正下方(对于最大的障碍物，如飞机警告球)，以保持重心。每个臂有三个部分:一个基础支架，臂体和车轮支架。底座支架安装在底座架上。它通过关节(下关节)连接到臂体。底座支架容纳较低的关节执行机构。臂体是臂的主要部分，并通过一个关节(上关节)在其顶部承载车轮安装。车轮支架的设计类似于底座支架，它容纳了车轮的驱动机构。此外，与基础支架一样，它也持有上部关节执行机构。对于所有的关节，采用电位器反馈系统对手臂进行位置控制。除了驱动，车轮安装也包含安全钳。这可以确保机器人在不利条件下保持在线上。它还能使机器人在拆卸和重新安装操作时牢牢地抓住绳索。图 8 手臂、夹钳和轮夹组件的 CAD 模型每条手臂都有自己的控制单元，用于关节执行器、驱动电机和安全夹紧伺服。任何一个控制器都可以用作主控制器，并向其余的手臂提供命令。由于这个设计是一个通用机器人平台，主控制器可以被修改以接受来自另一个更高级别处理器的命令。此外，只有当第 1 届国际和第 16 届全国机械与机械会议的大型会议必须避免 813 个障碍时，关节才会被驱动。否则，只有车轮的马达会为运动提供动力。J. 安全夹设计如图 8 所示，机器人的每个手臂都有一个安全夹。安全夹负责将机器人固定在绳索上。夹钳由安装在伺服器及其配套支架上的两个挂钩组成。伺服机构的位置决定了夹紧的强度。为了在避障过程中抓住线，伺服器的位置可以提高。在正常情况下滚动线，它可能定位较低。为了避障，夹具是必不可少的，以防止机器人倾斜太远，从而失去抓地力。从建模的角度来看，夹具在机器人的过渡期间能够克服障碍，因此允许一个假设:在过渡期间，机器人手臂被刚性地连接到直线上。38在后面的章节中可以看到，这个假设允许一个折叠的、极度简化的动态模型，每次只考虑一个手臂。K. 轮设计车轮设计如图 9 所示。最初，设计的重点是创建一个与线本身相切的内表面。因此，轮子是由某种性质的硫化橡胶建造的。然而，这被证明是无效的，因为足够的牵引力成为一个日益明显的问题。此外，这种制造方法也不可行。因此，需要一个机械解决方案。图 9 车轮设计- CAD 模型新的车轮设计为锥形，内层添加了橡胶，以提供必要的牵引力。车轮上的牵引力与法线的圆锥角()的余弦成正比，其摩擦系数为。反作用力(FN1 + FN2)与16法向力
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