4.6 Article

Experimental Evaluation of Aerial Manipulation Robot in Contact With 15 kV Power Line: Shielded and Long Reach Configurations

期刊

IEEE ACCESS
卷 9, 期 -, 页码 94573-94585

出版社

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2021.3093856

关键词

Manipulators; Robots; Aluminum; Electron tubes; Pulse width modulation; Legged locomotion; Inspection; Aerial manipulation; power lines; electrostatic discharge

资金

  1. AERIAL COgnitive integrated multi-task Robotic system with Extended operation range and safety (AERIAL-CORE) Project of the European Commission [H2020-2019-871479]
  2. European Research Council [788247]

向作者/读者索取更多资源

The use of aerial manipulators for power grid inspection and maintenance requires safe interaction with high voltage power lines. This paper presents experimental results on a real 15 kV power line, investigating different manipulator configurations and the electromagnetic effects associated with interaction with power lines. Comparing the effectiveness of shielding and insulation for aerial manipulators is also discussed.
The use of aerial manipulators for the inspection and maintenance of the power grid requires the safe interaction of the robot with high voltage power lines. In order to identify possible faults or malfunctions during the approaching or interaction phases, this paper presents experimental results in a real 15 kV power line, considering four different configurations for the manipulator: 1) aluminum tube attached to the landing gear, 2) robotic arm attached to the multi-rotor base, 3) shielded aerial manipulator, and 4) long reach configuration (insulated). The paper investigates the electromagnetic susceptibility of the autopilot and the electronic speed controllers to the electrostatic discharge (ESD) raised when the manipulator touches the line, causing the momentary failure of the rotors. A model of the electromagnetic effects associated to the interaction with the line is provided, comparing later the effectiveness of the two solutions for the aerial manipulator: shielding, and insulation.

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