Earticle

초록

영어

We introduces a mobile robot that can navigate on a power transmission line arranged in bundled conductors. The designs of the proposed robot are performed for navigation on bundled conductors, and the navigation method for bundled conductors and obstacle avoidance are presented. The robot consists of 13 degrees of freedom (DOF) with a symmetrical structure for the left and right parts, including the four wheel joints. The navigation method is designed using a combination of three motion primitives such as linear motion of counterbalancing box, linear motion of robot arm, and rotational motion of wheel part. To examine the performance of the proposed robot, navigation simulations are conducted using ADAMSTM. The robot navigations were simulated on obstacle environments that consisted of two- and four-conductor bundles. Based on the simulation results, the performance of the proposed robot was reviewed through the analysis of the trajectories of end-effectors. We confirmed that the proposed robot was capable of achieving optimal navigation on bundled conductors that included obstacles.

목차

Abstract
1. Introduction
2. Proposed Robot Design for Bundled Conductor Navigation
2.1 Robot design
2.2 Navigation methods
3. Simulation of Robot Navigation on Bundled Conductors
4. Conclusion
References

키워드

저자

• Kwang-Ho Seok [ BioComputing Lab, Department of Computer Science and Engineering, Korea University of Technology and Education (KOREATECH), Cheonan, Republic of Korea ]
• Yoon Sang Kim [ BioComputing Lab, Department of Computer Science and Engineering, Korea University of Technology and Education (KOREATECH), Cheonan, Republic of Korea ] Corresponding Author

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  The International Journal of Advanced Smart Convergence

• 간기

  계간

• pISSN

  2288-2847

• eISSN

  2288-2855

• 수록기간

  2012~2025

• 십진분류

  KDC 326 DDC 380