عنوان مقاله [English]
In this article, detailed design of a novel power line inspection robot was studied. This robot may be used to move on ground cables for special purposes such as the inspection and fault detection of electric power lines. Designed active and passive mechanisms in the proposed robot enable it to move over various obstacles on ground cables, such as clamps, warning balls and mast tips. Indeed, this robot is the first designed robot with the capability of moving over all ground cable obstacles. The active mechanisms contained seven rubber-coated rollers (i.e. four vertical rollers and three horizontal rollers), as well as three mechanisms, in order to make the horizontal rollers move vertically. The passive mechanisms included a set of spring-dampers installed in each joint of the robot arms. Simulation results in ADAMS software reveal a desirable stability of performance when moving on ground cables with a maximum slope of 30-degrees. Also, the robot showed a suitable performance when passing over the warning balls (with a maximum diameter of 700mm), rectangular mast tips (170*170 mm) and mast tips with a 30-degree twist in the horizontal plane. The feasibility of these maneuvers was proven with a prototype implementation and successful test results. The robot was approximately 60kg in weight and may move in ground cables with a maximum speed of 20m/min.