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Inspection robot with dual wheels encounters upslope and down slope, when it runs on the overhead ground wires (OGWs) which displays catenary shape. The tilt of the body of inspection robot, which is caused by the angle variation of catenary in different position, will occur during running procedure, and disenable to check vertically the transmission lines(More)
One arm is hung on the overhead ground wires (OGWs), while the other arm is off the OGW when an inspection robot autonomously negotiates obstacles on OGWs. The inspection robot's body tilts because the gravity torque is unbalanced, and it is difficult to negotiate obstacles autonomously. If the horizontal pose of the body is kept through the gripping(More)
Inspection robot encounters upslope and down- slope, when single wheel runs on overhead ground wires (OGWs) which displays catenary shape. The tilt of inspection robot's body is happened because the contact point between single wheel and overhead line is variational with the angle variation of catenary in different position during single wheel running(More)
A wormlike crawling mechanism is designed based on analysis of climbing principles of worms. First of all, the composing of squirming crawling mechanism is introduced and the work principles of squirming crawling and its crawling direction change and uplift are expounded. Because the mechanism is crawling slowly, statics equations of crawling mechanism are(More)
The purpose of inspection tasks for power transmission lines is to check running state and find damages of extra-high voltage (EHV) power transmission lines equipment. Obviously, inspection tasks are very important for normal operation of power transmission lines. So far, there are two methods for checking power transmission lines. One method is that power(More)
Numerical optimization problems enjoy a significant popularity in genetic algorithms (GAs) community. All major genetic techniques use such problems for various tests and experiments. However, many of these techniques encounter difficulties in solving some real-world problems which include non-trivial constrains. This paper discusses a new method, which(More)
The trajectory tracking system of particle motion on sieve surface was designed by the combination of the analysis of image sequences based on binocular stereo vision and three-dimensional position reconstruction based on artificial neural network. Firstly, the calibration plane with uniformly distributed solid circles was placed in multiple positions(More)
In the process of tightening up and screwing off the iron roughneck, it is required that the center of clamping pliers and the center of drill pipe are coincident, so as to avoid the damage of the circular guide in clamping system, and to ensure the iron roughneck work normally. While the traditional method of centering is artificial in iron roughneck, its(More)