电力线路检测机器人的设计与开发外文文献翻译、中英文翻译、外文翻译.doc

1 1 译文标题： 电力线路检测机器人的设计与开发 原文标题：Design and development of a power line inspection robot 作 者：M. Jayatilaka, M. Shanmugavel, S. V. Ragavan 原文出处： Mechatronics, School of Engineering Monash University Malaysia campus Bandar Sunway, Malaysia, 46150 {madhavan.shanmugavel, veera.ragavan}@ 2 2 Robonwire: Design and development of a power line inspection robot Milan Jayatilaka, Madhavan Shanmugavel, S.Veera Ragavan Mechatronics, School of Engineering Monash University Malaysia campus Bandar Sunway, Malaysia, 46150 {madhavan.shanmugavel, veera.ragavan}@ Abstract This paper presents a design of a low-cost, lightweight powerline inspection robot:Robonwire. Though commercial and research robots for inspecting and monitoring powerline are available, the weight of the robot is high and it requires a lot of human effort during set-up and operation. We focus on developing a laboratory scale robot for power line inspection. The robot has three arms and a base frame which houses the electrical and electronic elements to control the locomotion and avoiding obstacles. It uses three powered motors with wheels one for each arm providing the mobility of the robot on the wires. Each arm has two joints. The upper joint connects the arm body to the wheel assembly while the lower one connects the arm body to the base frame. The obstacle avoidance is achieved by lateral rotation of arms in sequence. This paper presents the initial phase of the development in which a robot is built for travelling on wire. The motion planning for obstacle avoidance and simulations for torque requirement analysis of joint motors are also presented. Keywords : Powerline inspection robot; Robot; Robonwire 3 3 山西能源学院 学士学位论文文献综述 INTRODUCTION Modern power distribution networks are unquestionably critical in the progress of any nation. Because, they represent both significant investment and critical resource to every citizen, they necessitate regular inspection and maintenance [22]. Currently, manned or autonomous helic