Design and construction of the mechanical part of the power transmission line inspection robot

نوع: Type: thesis

مقطع: Segment: masters

عنوان: Title: Design and construction of the mechanical part of the power transmission line inspection robot

ارائه دهنده: Provider: Ashkan Farkhonde Dokht

اساتید راهنما: Supervisors: Hashem Mazaheri (Ph. D)

اساتید مشاور: Advisory Professors: Hamidreza Karami (Ph. D)

اساتید ممتحن یا داور: Examining professors or referees: Mehdi Shabam (Ph. D), Amin Imani (Ph. D)

زمان و تاریخ ارائه: Time and date of presentation: 2022/05/21

مکان ارائه: Place of presentation: Seminar 3

چکیده: Abstract: We are surrounded by transmission lines. In some areas, the established infrastructure dates back to several decades ago, and most power transmission and distribution equipment is around 50 years old. In cables, insulators and various components of the transmission network, it has become very important because any defect in the transmission network can cause a lot of financial and human damages. inspection in Iran is often done visually or using specialized manpower who are directly present on the lines, and this can lead to human error as well as life-threatening. Therefore, the use of technology and the construction of robots to accurately inspect the lines and, more importantly, reduce the risk of inspection, can be very important. The first step in building such a robot is to examine the transmission lines and their components, these components can be considered as an obstacle to the robot inspection process. The biggest obstacle that interferes with the inspection is the warning sphere. Therefore, in order to inspect the lines without any problems, in addition to moving on the transmission line cable, the robot must be able to pass through the warning sphere. LineScout is one of the most advanced robots in the field of transmission line inspection, reverse engineering has been done to design and build the robot. The process of designing and manufacturing the robot has been done according to the existing limitations in the use of different parts and financial constraints and the robot has been designed and built with ½ scale. The robot consists of three main frames and the mechanisms of each frame and their components have been studied in the design and construction process. Due to budget constraints and the lack of powerful and suitable DC motors, the biggest design and construction challenge is the mechanisms that must be considered to compensate for the constraints. After designing and building the robot, structures were constructed for laboratory testing and simulation of the transmission line and its obstacles, and with the robot moving smoothly on the line and successfully crossing the largest simulated obstacle, the correct operation of the robot was validated

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