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.


    Access

    Download


    Export, share and cite



    Title :

    Experimental Evaluation of Aerial Manipulation Robot in Contact With 15 kV Power Line: Shielded and Long Reach Configurations


    Contributors:

    Publication date :

    2021-07-01


    Remarks:

    oai:zenodo.org:5086890
    IEEE Access 9 94573-94585



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations

    Alejandro Suarez / Fran Real / Victor M. Vega et al. | BASE | 2020

    Free access

    Motion planning for long reach manipulation in aerial robotic systems with two arms

    Alvaro Caballero / Alejandro Suarez / Francisco Real et al. | BASE | 2018

    Free access

    Motion planning with dynamics awareness for long reach manipulation in aerial robotic systems with two arms

    Alvaro Caballero / Manuel Bejar / Angel Rodriguez Castaño et al. | BASE | 2018

    Free access

    Fully-actuated, corner contact aerial robot for inspection of hard-to-reach bridge areas

    Gonzalez-Morgado, A. / Alvarez-Cia, C. / Heredia, G. et al. | IEEE | 2023