Power line inspection and maintenance already benefit from developments in mobile robotics. This paper presents a comprehensive review of the state of the art. It focuses on mobile robots designed to cross obstacles found on a typical transmission line while using the conductor as support for traveling. Promising areas of research and development as well as challenges that remain to be solved are discussed with a view to developing fully autonomous technologies. Maintenance tasks, including inspection and repairs, are identified as high-value applications in transmission live-line work. Conclusions are drawn from experience, and the future of mobile robotics applied to transmission line maintenance is discussed. © 2009 Wiley Periodicals, Inc.

Transmission line maintenance robots capable of crossing obstacles: State-of-the-art review and challenges ahead

Type synthesis of 2T2R, 1T2R and 2R parallel mechanisms

A bstract: This paper introduces a new concept of applying a parallel mechanism in automated fiber placement for aerospace part manufacturing. By investigating the system requirements, a 4-DOF parallel mechanism consisting of two RPS(revolute-prismatic-spherical joints) and two UPS(universal-prismatic-spherical joints) limbs with two rotational and two translational motions is proposed. Both inverse and forward kinematics models are obtained and solved analytically. Based on the overall Jacobian matrix in screw theory, singularity loci are presented and the singularity-free workspace is correspondingly illustrated. To maximize the singularity-free workspace, locations of the two UPS limbs with the platform and base sizes are used in the optimization which gives a new design of a 4-DOF parallel mechanism. A dimensionless Jacobian matrix is also defined and its condition number is used for optimizing the kinematics performance in the optimization process. A numerical example is presented with physical constraint considerations of a test bed design for automated fiber placement.

Singularity-Free Workspace Aimed Optimal Design of a 2T2R Parallel Mechanism for Automated Fiber Placement

The cerebellar model articulation controller (CMAC) neural network (NN) is a well-established computational model of the human cerebellum. Nevertheless, there are two major drawbacks associated with the uniform quantization scheme of the CMAC network. They are the following: (1) a constant output resolution associated with the entire input space and (2) the generalization-accuracy dilemma. Moreover, the size of the CMAC network is an exponential function of the number of inputs. Depending on the characteristics of the training data, only a small percentage of the entire set of CMAC memory cells is utilized. Therefore, the efficient utilization of the CMAC memory is a crucial issue. One approach is to quantize the input space nonuniformly. For existing nonuniformly quantized CMAC systems, there is a tradeoff between memory efficiency and computational complexity. Inspired by the underlying organizational mechanism of the human brain, this paper presents a novel CMAC architecture named hierarchically clustered adaptive quantization CMAC (HCAQ-CMAC). HCAQ-CMAC employs hierarchical clustering for the nonuniform quantization of the input space to identify significant input segments and subsequently allocating more memory cells to these regions. The stability of the HCAQ-CMAC network is theoretically guaranteed by the proof of its learning convergence. The performance of the proposed network is subsequently benchmarked against the original CMAC network, as well as two other existing CMAC variants on two real-life applications, namely, automated control of car maneuver and modeling of the human blood glucose dynamics. The experimental results have demonstrated that the HCAQ-CMAC network offers an efficient memory allocation scheme and improves the generalization and accuracy of the network output to achieve better or comparable performances with smaller memory usages.

/pdf/hierarchically-clustered-adaptive-quantization-cmac-and-its-4p6ji5zu0m.pdf

Hierarchically Clustered Adaptive Quantization CMAC and Its Learning Convergence

A five-axis serial-parallel kinematic milling machine, the SPKM 165, is introduced. This machine consists of a three-degree-of-freedom parallel module and a two-degree-of-freedom serial table. The SPKM 165 is capable of five-face machining. A discussion of the inverse kinematics of the five-axis control is provided. A dimensional synthesis procedure is presented in terms of motion/force transmissibility. Finite-element analysis was used to evaluate the stiffness of a CAD model before the machine was manufactured. Kinematic calibration was implemented to improve the accuracy of the end effector. The results of a calibration experiment are presented. The stiffness of the developed machine was then measured. Milling experiments were conducted, and the test piece showed that the developed machine has satisfactory performance.

Design and experimental study of the SPKM165, a five-axis serial-parallel kinematic milling machine

A mobile humanoid robot named YIREN has been developed as a platform for the research on intelligent robotics. The robot consists of 23 degrees of freedom (DOF), including the mobile platform, waist, torso, arms, neck and head, and it has two peculiarities: a waist mechanism that could adjust the mechanical compliance suitably and a mobile platform which is an omni-directional mobile robot with orthogonal-wheel assemblies. The design was mainly focused on two essential requirements of safety and mobility. This study aimed at realizing passive compliance of the mobile humanoid robot by its waist, and developing its autonomous navigation ability by its mobile platform. This paper presented a waist mechanism that could vary the joint stiffness. The influence of this waist on the compliant characteristics and the stability of the whole body were studied. The mobile humanoid robot that employs this waist is appropriate for the human-robot cooperative tasks, because it can realize safety motion by performing the waist and varying the joint stiffness while is operating.

The development of a mobile humanoid robot with varying joint stiffness waist

A new inspection robot for ultra-high voltage power line is introduced,and a piecewise control strategy is described.For the main engineering problems in obstacle navigation,the difficulties in the obstacle navigation phase are analyzed theoretically,i.e.adjusting the center of mass and identifying and localizing the power line.Simulation and experimental results demonstrate that the control strategy and theoretical analysis are valid.

An Improved Obstacle Navigation Method for Ultra-high Voltage Power Line Inspection Robot

A real world engineering design problem usually has multiple conflicting objectives, which can easily lead to difficulty in optimizing these objectives at the same time. Multiobjective combinatorial optimization is not only an open theory problem, it also has important practical significance. After modeling the constrained multiobjective combinatorial optimization problem, a new optimization algorithm is presented in detail. The algorithm is different from existing multiobjective evolutionary algorithms in three aspects. The first is the two-layer encoding method. The second is that it hybridises the simulated annealing algorithm with the genetic algorithm to improve the global searching ability while maintaining parallel computing ability. The third is the decision making mechanism to evaluate candidate solutions with several design objectives. A numerical example study shows that the proposed algorithm is capable of dealing with multiobjective combinatorial optimization problems

Research on A New Multiobjective Combinatorial Optimization Algorithm

In a dynamical manufacturing environment hybrid assembly line is used widely because of its flexibility and reconfigurability. Hybrid assembly line design problem is more difficult and complex than ordinary simple line design problems. On the basis of modeling the hybrid assembly line design problem and design objectives, an intelligent multiobjective optimization algorithm is proposed. Some essential problems such as the algorithm flowchart, chromosomes encoding, algorithm operators, chromosomes amending, and a kind of Pareto-based multiobjective tackling mechanism are described. A numerical example shows that the proposed method is capable of deal with the constrained multiobjective optimization problem of hybrid assembly line design.

Research on optimization method for hybrid assembly line design

In this paper, a ten degrees of freedom (DOF) redundant robot manipulator based on three DOF parallel platforms is introduced The main contents of the paper include configuration, kinematics, mechanical design and control system The new robot is a hybrid serial system which is composed of a slide pair and three sections of three DOF parallel platforms The system is driven by hydraulic cylinders and controlled by electric-hydraulic servo valves and STD Bus It can sweep large workspace and be used for the operations inside of a large container

Development of a redundant robot manipulator based on three DOF parallel platforms

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