Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
Static Equilibrium Analysis of a Distribution Line Riding Robot with Passive Balancing System
Submission Author:
Gustavo Fernandes , SC
Co-Authors:
João Vitor Fernandes Brito, Estevan Hideki Murai, Gustavo Fernandes, Rogério Augusto Antunes Pereira, Daniel Martins, Roberto Kinceler
Presenter: Gustavo Fernandes
doi://10.26678/ABCM.COBEM2021.COB2021-0891
Abstract
Brazil presents an extensive distribution grid. Power lines age and they need constant maintenance to keep a distribution grid reliable. However, given the Brazilian distribution grid extension, performing regular inspections in distribution lines is a challenge. One approach is to automate the inspection using robots. When developing an inspection robot for distribution lines, a key issue is designing a robot that is capable of transposing several different obstacles and that has a low mass. Besides that, when the robot is operating in the distribution line it has to remain stable. In this paper, the static equilibrium analysis of a distribution line riding robot with passive balancing system is done. Initially, the geometries of the distribution line components, such as insulators and cross arms, are presented. The distribution line riding robot is also presented, along with its geometric properties and mass distribution. The static equilibrium equations are developed and implemented in Matlab. The robot wheel geometry is considered along with the insulators geometry, analyzing whether the robot is stable or unstable for a given robot position. Finally, it is devised a stability map that allows the designer to compare the stability of different wheel geometries.
Keywords
static equilibrium analysis, distribution line inspection robot, passive balancing system, robot stability analysis
