Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
Static Equilibrium Analysis of a Distribution Line Riding Robot with Active 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.COB2021-0914
Abstract
In the power distribution field, energy key performance indicators are important indexes for measuring a company competitiveness and the provided energy quality. Preventive and corrective maintenances are crucial to avoid power outages. Using an automated inspection system can result in faster and more precise inspections. However, designing a distribution line inspection robot presents several challenges. One issue is the robot stability. For effectiveness and safety reasons, the robot must remain stable when moving along the cable or transposing obstacles. In this paper, the static equilibrium analysis of a distribution line riding robot with active balancing system is done. This is a preliminary study to assess the feasibility of an actuated equilibrium system for the robot under development. Initially, the geometrical limitations of distribution lines are presented. Then, the distribution line riding robot is briefly described. The static equilibrium equations are presented and implemented in Matlab. The analysis is carried out considering the robot mass and two movable counterweight masses. The distribution line components are also taken into account. Thus, the constraints imposed by space limitations and insulators geometry are analyzed. The analysis indicates that the proposed active balancing system has limited effectiveness and other design decisions, such as lowering the center of mass, have higher impact on robot stability. Therefore, other balancing methods, such as passive balancing systems, may be promising.
Keywords
static equilibrium analysis, distribution line inspection robot, active balancing system, robot stability analysis
