A Study on Inspection Robot Wheel to Pass an Obstacle on a Four conductor Transmission Line

Title
A Study on Inspection Robot Wheel to Pass an Obstacle on a Four conductor Transmission Line
Authors
김문영이준영김창환이석Hong Jae Yim
Keywords
Multi-body dynamics; polyurethane wheel; wheel diameter
Issue Date
2013-10
Publisher
International Symposium on Robotics
Abstract
In this study, we describe the basic design of an inspection robot wheel that can pass over obstacles without the need for lifting. We selected polyurethane, which provides the highest level of insulation between the line and the wheels, as the wheel material. A finite element model of wheel is generated and is compared with the real polyurethane wheel through a pressing test. A space damper is set as the main obstacle. We carried out a Multi-body dynamics simulation is conducted by changing the wheel diameter. We arrived appropriate diameter when the torque is using area.
URI
http://pubs.kist.re.kr/handle/201004/47155
Appears in Collections:
KIST Publication > Conference Paper
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