5086890
doi
10.1109/ACCESS.2021.3093856
oai:zenodo.org:5086890
user-eu
Salmoral, Rafael
University of Seville
Zarco-PeriƱan, Pedro J.
University of Seville
Ollero, Anibal
University of Seville
Experimental Evaluation of Aerial Manipulation Robot in Contact With 15 kV Power Line: Shielded and Long Reach Configurations
Suarez, Alejandro
University of Seville
info:eu-repo/semantics/openAccess
Creative Commons Attribution 4.0 International
https://creativecommons.org/licenses/by/4.0/legalcode
Aerial Manipulation
Power Lines
Electrostatic Discharge
<p>The use of aerial manipulators for the inspection and maintenance of the power grid requires the safe interaction of the robot with high voltage power lines. In order to identify possible faults or malfunctions during the approaching or interaction phases, this paper presents experimental results in a real 15 kV power line, considering four different configurations for the manipulator: 1) aluminum tube attached to the landing gear, 2) robotic arm attached to the multi-rotor base, 3) shielded aerial manipulator, and 4) long reach configuration (insulated). The paper investigates the electromagnetic susceptibility of the autopilot and the electronic speed controllers to the electrostatic discharge (ESD) raised when the manipulator touches the line, causing the momentary failure of the rotors. A model of the electromagnetic effects associated to the interaction with the line is provided, comparing later the effectiveness of the two solutions for the aerial manipulator: shielding, and insulation.</p>
Zenodo
2021-07-01
info:eu-repo/semantics/article
5086889
user-eu
award_title=General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety; award_number=788247; award_identifiers_scheme=url; award_identifiers_identifier=https://cordis.europa.eu/projects/788247; funder_id=00k4n6c32; funder_name=European Commission;
award_title=AERIAL COgnitive integrated multi-task Robotic system with Extended operation range and safety; award_number=871479; award_identifiers_scheme=url; award_identifiers_identifier=https://cordis.europa.eu/projects/871479; funder_id=00k4n6c32; funder_name=European Commission;
1625881702.479031
3241947
md5:c345a64b15350f93f0787430d365c48d
https://zenodo.org/records/5086890/files/IEEE_Access_2021.pdf
public
IEEE Access
9
94573-94585
2021-07-01