Robonwire: design and development of a power line inspection robot

Milan Jayatilaka, Madhavan Shanmugavel, S. Veera Ragavan

Research output: Contribution to conferencePaper

7 Citations (Scopus)

Abstract

This paper presents a design of a low-cost, lightweight powerline inspection robot:Robonwire. Though commercial and research robots for inspecting and monitoring powerline are available, the weight of the robot is high and it requires a lot of human effort during set-up and operation. We focus on developing a laboratory scale robot for power line inspection. The robot has three arms and a base frame which houses the electrical and electronic elements to control the locomotion and avoiding obstacles. It uses three powered motors with wheels one for each arm providing the mobility of the robot on the wires. Each arm has two joints. The upper joint connects the arm body to the wheel assembly while the lower one connects the arm body to the base frame. The obstacle avoidance is achieved by lateral rotation of arms in sequence. This paper presents the initial phase of the development in which a robot is built for travelling on wire. The motion planning for obstacle avoidance and simulations for torque requirement analysis of joint motors are also presented.

Original languageEnglish
Pages808-815
Number of pages8
Publication statusPublished - 2013
EventInternational and National Conference on Machines and Mechanisms 2013 - Indian Institute of Technology, Roorkee, India
Duration: 18 Dec 201320 Dec 2013
Conference number: 1st
http://www.nacomm2013.org/

Conference

ConferenceInternational and National Conference on Machines and Mechanisms 2013
Abbreviated titleiNaCoMM 2013
Country/TerritoryIndia
CityRoorkee
Period18/12/1320/12/13
Other1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM 2013)
Internet address

Keywords

  • Powerline inspection robot
  • Robonwire
  • Robot

Cite this