Wang Hongguang

Obstacle-navigation strategy of a wire-suspend robot for power transmission lines

This paper presents an obstacle navigation strategy for a wire-suspend robot for power transmission lines based on a novel movement mechanism. The kinematics of the mobile robot and the process of obstacle navigation control are analyzed in detail. A realtime expert system with hybrid architecture C language integrated production system (CLIPS) is described as the mobile robot control system. The realtime expert system is developed by CLIPS and C language, so it has powerful logical reasoning ability and data processing ability. And the expert system can instruct the mobile robot to navigate obstacles autonomously on overhead ground wires. A realtime process and a conflict elimination algorithm realize the realtime ability of the control system. The robot task plan has two modes: layered plan and direct control. The robot can study online or offline, and when it encounter the same obstacles, it can navigate them quickly

Obstacle-navigation control for a mobile robot suspended on overhead ground wires

This paper presents an obstacle-navigation control strategy for a mobile robot suspended on overhead ground wires of power transmission lines based on a novel movement mechanism. The kinematics of the mobile robot and the process of obstacle-navigation control are analyzed in detail. This paper presents to develop robot expert system using hybrid programming of C language integrated production system (CLIPS) and C language, and the robot expert system has powerful logical reasoning ability and data processing ability. The robot control modes have layered planning and direct control. This paper describes the robot expert system with hybrid architecture and analyzed decision-making of obstacle-navigation in layered planning mode in detail. The robot can learn online or offline, and when it encounter the same obstacles, it can navigate them quickly. Obstacle-navigation control is the difficult point of the type of wire-suspended robot and the expert system can instruct the mobile robot to navigate obstacles autonomously on overhead ground wires.

A novel 4-DOF parallel manipulator and its kinematic modelling

In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on the 4-DOF parallel manipulator is presented in this paper.In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes, respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on the 4-DOF parallel manipulator is presented.

Identification of Parameters for a Stewart Platform-based Force/Torque Sensor

In this paper, the mechanical configuration and the principle of the measurement for a Stewart platform-based multicomponent force/torque sensor is introduced. A novel calibration method for geometric parameters is presented, which is to connect a fixed base to the top platform using one link in turn and measure the poses of the top platform. According to the poses measured on the coordinate measuring machine (CMM), the geometric parameters of the multicomponent force/torque sensor can be calculated separately. The inverse and forward kinematic model has been formulated to optimize the geometric parameters and compute the resulting forces of the multicomponent force/torque sensor. Several experiments have been carried out and the results prove that the calibration method is correct and valid

Obstacle performance analysis for a novel inspection robot with passive joints

To complete the power transmission line inspection task successfully, the inspection robot has to cross dampers, splicing sleeves and other obstacles installed in the line quickly and smoothly. A novel inspection robot with passive joints is presented, with its quasi-static model being set up for obstacle-crossing analysis. The analysis result indicates that the passive joints ensure at least one gripper keep close during obstacle-crossing and the robot obstacle performance is enhanced. It will be especially benefit of obstacle-crossing in the inclined line with a large angle and cutting down the robot working risk. In addition, some robot mechanism parameters are determined by optimization method to find the maximum height the robot can cross. Finally, the reliability and stability of the robot obstacle crossing is validated by simulation and field experiment. It provides the theoretic reference for the robot mechanical design and autonomous control.

Research on the influence of the driving wheel and robot posture on climbing capability of a transmission line inspection robot

Climbing capability, as an important index to assess the performance of the power transmission line (PTL) inspection robot, directly concerns the robot practical application. In the former design, in order to enhance the climbing capability, the common method is to choose a drive motor with high torque and a transmission system with large reduction ratio. However, as a matter of fact, climbing capability of the inspection robots using the method mentioned above does not become very satisfied. This article analyzes the influence of posture and drive wheel on the climbing capacity, proposes a new method to improve climbing capability by changing the robot posture during climbing and optimum design for drive wheels, which could enhance the adhesion capability and balance the load, and finally validates the correctness of the proposed method by simulation and experiments. The research contents are also meaningful to some other mobile robots.

Docking Process of Lattice Self-reconfigurable Modular Robots

The lattice self-reconfigurable modular robot system is presented, which consists of one central cube and six rotary arms. A novel docking system is proposed. It mainly consists of extension pegs and expansible holes. In order to finish the self-morphing and self-repairing action, each extension peg and each expansible hole are designed to perform the connection/disconnection among normal modules and normal module, normal modules and trouble modules. So they can finish the self-reconfiguration and keep the whole configuration of the robot. According to the geometric feature of each module, docking relationship and docking process among modules are described. There are two stages: The stage of module rotating and the stage of module aligning. Finally, a simulation with 6 modules of the lattice self-reconfigurable robot and an experiment with 3 modules are shown to prove that the analyses are effective.

Locomotion performance analysis of the lunar rover on a slope

In this paper, the stability and locomotion of the lunar rover on a slope is studied. Based on the analysis of a single wheels force model and the mechanism constraints of “Rocker-Bogie” suspension, the quasi-static model of the rover is derived. The objective function for optimal solution of the driving forces of the wheels is introduced taken into account the characteristic of the quasi-static model and the demand of coordinate actuation of the wheels. The stability and the locomotion performance of the rover are analyzed by analyzing the simulation results. The study of this paper can provide theoretical basis for torque control of the wheels.

Precision compensation of localization error in obstacle-navigation for inspection robot

Research on inspection robot for 500 kv EHV power transmission lines home and abroad began with great potential applications in the electric industry. Path planning for robot to navigate obstacles based on environments perception is attempted in the present study; moreover, lines localization is the key during navigating obstacles. An analytical localization method is proposed; however, localization error is brought by perception sensors of lines identification, which affects the accurateness of lines localization precision. Precision compensation for the localization error in the kinematics model is represented with a rotation degree of freedom as the same direction as that of the localization error. The simulation and the experiments are carried out with navigating obstacles that the proposed compensation might actually provide an accurate localization precision.Research on inspection robot for 500kv EHV power transmission lines home and abroad began with great potential applications in the electric industry. Path planning for robot to navigate obstacles based on environments perception is attempted in the present study; moreover, lines localization is the key during navigating obstacles. An analytical localization method is proposed; however, localization error is brought by perception sensors of lines identification, which affects the accurateness of lines localization precision. Precision compensation for the localization error in the kinematics model is represented with a rotation degree of freedom as the same direction as that of the localization error. The simulation and the experiments are carried out with navigating obstacles that the proposed compensation might actually provide an accurate localization precision.

A Combined Logistic and Model Based Approach for Fault Detection and Identification in a Climbing Robot

This paper presents a combined logistic and model based approach for fault detection and identification (FDI) in the suction foot control of a climbing robot. For this control system, some fault models are easily given by kinematics equations. Moreover, the logic relations of the system states have been known in advance. Based on the combination of the logic reasoning and the model based estimation, the novel approach is properly fit for the FDI application to the climbing robot. First a fault tree (FT) constructed from the target system is used in robot safety analysis by evaluating the basic events (elementary causes) which can lead to a root event (a particular fault). Then, the multiple-model adaptive estimation (MMAE) algorithm is used to reliably detect and identify the model-known faults. Finally, based on the system states of the robot and the results of the MMAE, other faults are detected and identified using the logic reasoning. Experimental results validated that the faults of the sensors and actuators in the suction foot control of the robot can be readily detected and identified by this approach.