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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)
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)
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)
Since the spot is elliptical when the cylindrical laser comes to the spatial plane, it proves that the laser spots in the CCD images, which are acquired by binocular stereo vision, are also elliptical. Through image edge extraction in image processing, it can obtain space equations of imaging ellipse edge by least square ellipse fitting, which can be(More)
The first generation wormlike crawling robot has 8 ropes providing pulling force to change relative position of segments and to accomplish crawling movements. In order to solve problems of rope breaking, force control and length control of ropes appear in trails, the characteristic of pure rolling is studied and kinematics equations are established firstly.(More)