电力线上安装螺旋导流器的柔性夹具的设计、集成和测试

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI:10.1109/AIRPHARO52252.2021.9571044

Inmaculada Armengol, A. Suárez, G. Heredia, A. Ollero

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引用次数: 5

摘要

目前，从电力线上安装和移除鸟类分流器是由人类操作员在有人驾驶的直升机上或电力线上进行的，这需要一定的风险和成本，如果空中操纵器执行这些任务，则可以降低这些任务。本文介绍了一种轻型夹持器(70克)的设计，该夹持器专门用于安装螺旋鸟分流器。它由一个拟人双臂系统集成的爪型柔性机构组成，该机构旨在执行操作，并通过长臂摆结构连接到多转子上。本文还介绍了机械集成和远程操作系统的使用，以测试夹具安装在试验台。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design, Integration and Testing of Compliant Gripper for the Installation of Helical Bird Diverters on Power Lines

The installation and removal of bird diverters from power lines is conducted nowadays by human operators working from manned helicopters or from the power line itself, which entails a certain risk and cost that can be reduced if an aerial manipulator performs these tasks. This paper presents the design of a lightweight gripper (70 g) which is specific for the installation of helical bird diverters. It consists of a claw-type compliant mechanism that is integrated in an anthropomorphic dual arm system, which is intended to perform the operation, and is attached to a multirotor through a long-reach pendulum configuration. The paper also covers the mechanical integration as well as the utilization of a teleoperation system to test the gripper for the installation at a test bench.

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2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)

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