Development of a dual-arm mobile robot for high voltage power lines

摘要

This paper presents an inspection robot for high voltage power lines. The dual-arm mechanical configuration and control system of the robot are described in this paper. The robot is capable of navigating on the ground wires, surmounting the obstacles and inspecting the power lines automatically. An expert system is adopted to implement the automatic control. The robot can be monitored and teleoperated based on a human-machine interface in a ground system. The obstacle-surmounting strategy and navigation principle are proposed in this paper. The obstacle-surmounting and navigating tests of the robot have been performed and experiment results demonstrate that the robot can be applied to execute the navigation and inspection tasks.