Industrial Robot最新文献

{"title":"Model optimization and acceleration method based on meta-learning and model pruning for laser vision weld tracking system","authors":"Yanbiao Zou, Jianhui Yang","doi":"10.1108/ir-05-2024-0233","DOIUrl":"https://doi.org/10.1108/ir-05-2024-0233","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>This paper aims to propose a lightweight, high-accuracy object detection model designed to enhance seam tracking quality under strong arcs and splashes condition. Simultaneously, the model aims to reduce computational costs.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>The lightweight model is constructed based on Single Shot Multibox Detector (SSD). First, a neural architecture search method based on meta-learning and genetic algorithm is introduced to optimize pruning strategy, reducing human intervention and improving efficiency. Additionally, the Alternating Direction Method of Multipliers (ADMM) is used to perform structural pruning on SSD, effectively compressing the model with minimal loss of accuracy.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>Compared to state-of-the-art models, this method better balances feature extraction accuracy and inference speed. Furthermore, seam tracking experiments on this welding robot experimental platform demonstrate that the proposed method exhibits excellent accuracy and robustness in practical applications.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>This paper presents an innovative approach that combines ADMM structural pruning and meta-learning-based neural architecture search to significantly enhance the efficiency and performance of the SSD network. This method reduces computational cost while ensuring high detection accuracy, providing a reliable solution for welding robot laser vision systems in practical applications.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"76 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142257256","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"High-performance foot trajectory tracking control of hydraulic legged robots based on fixed-time disturbance observers","authors":"Shanshuai Niu, Junzheng Wang, Jiangbo Zhao","doi":"10.1108/ir-06-2024-0278","DOIUrl":"https://doi.org/10.1108/ir-06-2024-0278","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>There are various uncertain and nonlinear problems in hydraulic legged robot systems, including parameter uncertainty, unmodeled dynamics and external disturbances. This study aims to eliminate uncertainties and improve the foot trajectory tracking control performance of hydraulic legged robots, a high-performance foot trajectory tracking control method based on fixed-time disturbance observers for hydraulic legged robots is proposed.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>First, the robot leg mechanical system model and hydraulic system model of the hydraulic legged robot are established. Subsequently, two fixed-time disturbance observers are designed to address the unmatched lumped uncertainty and match lumped uncertainty in the system. Finally, the lumped uncertainties are compensated in the controller design, and the designed motion controller also achieves fixed-time stability.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>Through simulation and experiments, it can be found that the proposed tracking control method based on fixed-time observers has better tracking control performance. The effectiveness and superiority of the proposed method have been verified.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>Both the disturbance observers and the controller achieve fixed-time stability, effectively improving the performance of foot trajectory tracking control for hydraulic legged robots.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"11 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142181855","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design of a multi-manipulator robot for relieving welding residual stress","authors":"Qing Liu, Chengjun Wang, Chenchen Shang, Jiabao Li","doi":"10.1108/ir-05-2024-0219","DOIUrl":"https://doi.org/10.1108/ir-05-2024-0219","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>The purpose of this study is to reduce the residual stress in welded workpieces, optimize the vibratory stress relief treatment process through the use of a vibration generator and enhance the durability and longevity of the workpiece by developing a vibratory stress relief robot that incorporates a multi-manipulator system.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>The multi-manipulator combination work is designed so that each manipulator is deployed according to the requirements of vibration stress relief work. Each manipulator works independently and coordinates with others to achieve multi-dimensional vibratory stress relief of the workpiece. A two-degree-of-freedom mobile platform is designed to enable the transverse and longitudinal movement of the manipulator, expanding the working space of the robot. A small electromagnetic superharmonic vibration generator is designed to produce directional vibrations in any orientation. This design addresses the technical challenge of traditional vibration generators being bulky and unable to achieve directional vibrations.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>The residual stress relief experiment demonstrates that the residual stress of the workpiece is reduced by approximately 73% through three-degree-of-freedom vibration. The multi-dimensional vibration effectively enhances the relief effect of residual stress, which is beneficial for improving the strength and service life of the workpiece.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>A new multi-manipulator robot is proposed to alleviate the residual stress generated by workpiece welding by integrating vibratory stress relief with robotics. It is beneficial to reduce material and energy consumption while enhancing the strength and service life of the workpiece.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"3 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142181856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An online error compensation strategy for hybrid robot based on grating feedback","authors":"Pengkun Cheng, Juliang Xiao, Wei Zhao, Yangyang Zhang, Haitao Liu, Xianlei Shan","doi":"10.1108/ir-06-2024-0285","DOIUrl":"https://doi.org/10.1108/ir-06-2024-0285","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>This paper aims to enhance the machining accuracy of hybrid robots by treating the moving platform as the first joint of a serial robot for direct position measurement and integrating external grating sensors with motor encoders for real-time error compensation.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>Initially, a spherical coordinate system is established using one linear and two circular grating sensors. This system enables direct acquisition of the moving platform’s position in the hybrid robot. Subsequently, during the coarse interpolation stage, the motor command for the next interpolation point is dynamically updated using error data from external grating sensors and motor encoders. Finally, fuzzy proportional integral derivative (PID) control is applied to maintain robot stability post-compensation.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>Experiments were conducted on the TriMule-600 hybrid robot. The results indicate that the following errors of the five grating sensors are reduced by 94%, 93%, 80%, 75% and 88% respectively, after compensation. Using the fourth drive joint as an example, it was verified that fuzzy adaptive PID control performs better than traditional PID control.</p><!--/ Abstract__block -->\u0000<h3>Practical implications</h3>\u0000<p>The proposed online error compensation strategy significantly enhances the positional accuracy of the robot end, thereby improving the actual processing quality of the workpiece.</p><!--/ Abstract__block -->\u0000<h3>Social implications</h3>\u0000<p>This method presents a technique for achieving online error compensation in hybrid robots, which promotes the advancement of the manufacturing industry.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>This paper proposes a cost-effective and practical method for online error compensation in hybrid robots using grating sensors, which contributes to the advancement of hybrid robot technology.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"29 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142181858","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"YLS-SLAM: a real-time dynamic visual SLAM based on semantic segmentation","authors":"Dan Feng, Zhenyu Yin, Xiaohui Wang, Feiqing Zhang, Zisong Wang","doi":"10.1108/ir-04-2024-0160","DOIUrl":"https://doi.org/10.1108/ir-04-2024-0160","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>Traditional visual simultaneous localization and mapping (SLAM) systems are primarily based on the assumption that the environment is static, which makes them struggle with the interference caused by dynamic objects in complex industrial production environments. This paper aims to improve the stability of visual SLAM in complex dynamic environments through semantic segmentation and its optimization.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>This paper proposes a real-time visual SLAM system for complex dynamic environments based on YOLOv5s semantic segmentation, named YLS-SLAM. The system combines semantic segmentation results and the boundary semantic enhancement algorithm. By recognizing and completing the semantic masks of dynamic objects from coarse to fine, it effectively eliminates the interference of dynamic feature points on the pose estimation and enhances the retention and extraction of prominent features in the background, thereby achieving stable operation of the system in complex dynamic environments.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>Experiments on the Technische Universität München and Bonn data sets show that, under monocular and Red, Green, Blue - Depth modes, the localization accuracy of YLS-SLAM is significantly better than existing advanced dynamic SLAM methods, effectively improving the robustness of visual SLAM. Additionally, the authors also conducted tests using a monocular camera in a real industrial production environment, successfully validating its effectiveness and application potential in complex dynamic environment.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>This paper combines semantic segmentation algorithms with boundary semantic enhancement algorithms to effectively achieve precise removal of dynamic objects and their edges, while ensuring the system's real-time performance, offering significant application value.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"18 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142181857","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Toward precise dense 3D reconstruction of indoor hallway: a confidence-based panoramic LiDAR point cloud fusion approach","authors":"Hongtai Cheng, Jiayi Han","doi":"10.1108/ir-03-2024-0132","DOIUrl":"https://doi.org/10.1108/ir-03-2024-0132","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>Indoor hallways are the most common and indispensable part of people’s daily life, commercial and industrial activities. This paper aims to achieve high-precision and dense 3D reconstruction of the narrow and long indoor hallway and proposes a 3D, dense 3D reconstruction, indoor hallway, rotating LiDAR reconstruction system based on rotating LiDAR.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>This paper develops an orthogonal biaxial rotating LiDAR sensing device for low texture and narrow structures in hallways, which can capture panoramic point clouds containing rich features. A discrete interval scanning method is proposed considering the characteristics of the indoor hallway environment and rotating LiDAR. Considering the error model of LiDAR, this paper proposes a confidence-based point cloud fusion method to improve reconstruction accuracy.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>In two different indoor hallway environments, the 3D reconstruction system proposed in this paper can obtain high-precision and dense reconstruction models. Meanwhile, the confidence-based point cloud fusion algorithm has been proven to improve the accuracy of 3D reconstruction.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>A 3D reconstruction system was designed to obtain a high-precision and dense indoor hallway environment model. A discrete interval scanning method suitable for rotating LiDAR and hallway environments was proposed. A confidence-based point cloud fusion algorithm was designed to improve the accuracy of LiDAR 3D reconstruction. The entire system showed satisfactory performance in experiments.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"10 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142181859","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Optimize data association of point cloud to improve the quality of mapping and positioning","authors":"Guangbing Zhou, Letian Quan, Kaixuan Huang, Shunqing Zhang, Shugong Xu","doi":"10.1108/ir-12-2023-0341","DOIUrl":"https://doi.org/10.1108/ir-12-2023-0341","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>Accurate mapping is crucial for the positioning and navigation of mobile robots. Recent advancements in algorithms and the accuracy of LiDAR sensors have led to a gradual improvement in map quality. However, challenges such as lag in closing loops and vignetting at map boundaries persist due to the discrete and sparse nature of raster map data. The purpose of this study is to reduce the error of map construction and improve the timeliness of closed loop.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>In this letter, the authors introduce a method for dynamically adjusting point cloud distance constraints to optimize data association (ODA-d), effectively addressing these issues. The authors propose a dynamic threshold optimization method for matching point clouds to submaps during scan matching.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>Large deviations in LiDAR sensor point cloud data, when incorporated into the submap, can result in irreparable errors in correlation matching and loop closure optimization. By implementing a data association framework with double constraints and dynamically adjusting the matching threshold, the authors significantly enhance submap quality. In addition, the authors introduce a dynamic fusion method that accounts for both submap size and the distance between submaps during the mapping process. ODA-d reduces errors between submaps and facilitates timely loop closure optimization.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>The authors validate the localization accuracy of ODA-d by examining translation and rotation errors across three open data sets. Moreover, the authors compare the quality of map construction in a real-world environment, demonstrating the effectiveness of ODA-d.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"31 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142181860","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Mechanism design and mechanical analysis of pipeline inspection robot","authors":"Yongming Wang, Jinlong Wang, Qi Zhou, Sai Feng, Xiaomin Wang","doi":"10.1108/ir-07-2024-0301","DOIUrl":"https://doi.org/10.1108/ir-07-2024-0301","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>This study aims to address the issues of limited pipe diameter adaptability and low inspection efficiency of current pipeline inspection robots, a new type of pipeline inspection robot capable of adapting to various pipe diameters was designed.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>The diameter-changing mechanism uses a multilink elastic telescopic structure consisting of telescopic rods, connecting rods and wheel frames, driven by a single motor with a helical drive scheme. A geometric model of the position relationships of the hinge points was established based on the two extreme positions of the diameter-changing mechanism.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>A pipeline inspection robot was designed using a simple linkage agency, which significantly reduced the weight of the robot and enhanced its adaptive pipe diameter ability. The analysis determined that the robot could accommodate pipe diameters ranging from 332 mm to 438 mm. A static equilibrium equation was established for the robot in the hovering state, and the minimum pressing force of the wheels against the pipe wall was determined to be 36.68 N. After experimental testing, the robots could successfully pass a height of 15 mm, demonstrating the good obstacle capacity of the robot.</p><!--/ Abstract__block -->\u0000<h3>Practical implications</h3>\u0000<p>This paper explores and proposes a new type of multilink elastic telescopic variable diameter pipeline inspection robot, which has the characteristics of strong adaptability and flexible operation, which makes it more competitive in the field of pipeline inspection robots and has great potential market value.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>The robot is characterized by the innovative design of a multilink elastic telescopic structure and the use of a single motor to drive the wheel for spiral motion. On the basis of reducing the weight of the robot, it has good pipeline adaptability, climbing ability and obstacle-crossing ability.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"32 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142181861","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Adaptive EC-GPR: a hybrid torque prediction model for mobile robots with unknown terrain disturbances","authors":"Yiting Kang, Biao Xue, Jianshu Wei, Riya Zeng, Mengbo Yan, Fei Li","doi":"10.1108/ir-03-2024-0131","DOIUrl":"https://doi.org/10.1108/ir-03-2024-0131","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>The accurate prediction of driving torque demand is essential for the development of motion controllers for mobile robots on complex terrains. This paper aims to propose a hybrid model of torque prediction, adaptive EC-GPR, for mobile robots to address the problem of estimating the required driving torque with unknown terrain disturbances.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>An error compensation (EC) framework is used, and the preliminary prediction driving torque value is achieved using Gaussian process regression (GPR). The error is predicted using a continuous hidden Markov model to generate compensation for the prediction residual caused by terrain disturbances and uncertainties. As the final step, a gain coefficient is used to adaptively tune the significance of the compensation term through parameter resetting. The proposed model is verified on a sample set, including the driving torque of a mobile robot on three different sandy terrains with two driving modes.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>The results show that the adaptive EC-GPR yields the highest prediction accuracy when compared with existing methods.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>It is demonstrated that the proposed model can predict the driving torque accurately for mobile robots in an unconstructed environment without terrain identification.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"118 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142181862","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design and experiment of CLIBOT, a novel UHV insulator climbing robot with discrete optimization","authors":"Yunxiang Li, Yunfei Ai, Jinzhou Zou, Liangyu Liu, Chengjian Liu, Siheng Fu, Dehua Zou, Wang Wei","doi":"10.1108/ir-02-2024-0064","DOIUrl":"https://doi.org/10.1108/ir-02-2024-0064","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>By analyzing the shortcomings of existing insulator robots, a novel ultra high voltage (UHV) insulator climbing robot, which could transfer between adjacent insulator strings, is proposed for operation on 800KV multiple-string insulators. An extended inchworm-like configuration was chosen and a stable gripping claw suitable for the insulator string was designed to enable the robot to multiple-string insulators. Then a set of nonheuristic structural parameters that can influence energy consumption was chosen to formulate a nonlinear optimization problem based on the configuration, which improved the energy efficiency of the robot during progressing along a string of insulator.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>The purpose of this paper is to design an insulator climbing robot for operation on UHV multiple-string insulators, which could transfer between adjacent insulator strings and progressed along a string of insulator with high energy efficiency.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>A physical prototype was constructed that can operate at the speed of six pieces per minute (approximately 1.44 meters per minute) on a single string and complete transference between adjacent strings in 45 s. The energy consumption of joints during progressed along a string of insulator had been reduced by 38.8% with the optimized parameters, demonstrating the consistency between the experimental and simulation results.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>An insulator climbing robot for operation on UHV multiple-string insulators has been developed with energy consumption optimization design. The robot can transfer between adjacent insulator strings and progressed along a string of insulator with high energy efficiency. The CLIBOT could be expanded to detect or clean the insulators with similar specification.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"32 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142181863","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}