Design of the Linebot for power transmission lines inspection

摘要

This paper presented a novel power transmission lines inspecting robot named “Linebot”, which has high maneuverability and keeps in compact size and lightweight. Linebot has 11 degrees of freedom totally. It equips with two open-close wheels and a pair of grippers, which can be driven separately. As a result, there are three main types of motions to overcome the obstacles on the lines more efficiently. Prototype of Linebot has been developed for further research. It is composed of two parts connected by a pitch joint. Each part contains an open-close assembly, friction adjustment mechanism, grippers, pitch control mechanism, which can be controlled separately. The desired motion can be obtained by appropriate control of the drive cells. The prototype of Linebot had been developed and some experiments had been done to validate the robot's motions.