Design, modelling and control of a brachiating power line inspection robot
| dc.contributor.advisor | Boje, Edward | en_ZA |
| dc.contributor.author | Patel, Javaad | en_ZA |
| dc.date.accessioned | 2016-07-20T06:47:55Z | |
| dc.date.available | 2016-07-20T06:47:55Z | |
| dc.date.issued | 2016 | en_ZA |
| dc.description.abstract | The inspection of power lines and associated hardware is vital to ensuring the reliability of the transmission and distribution network. The repetitive nature of the inspection tasks present a unique opportunity for the introduction of robotic platforms, which offer the ability to perform more systematic and detailed inspection than traditional methods. This lends itself to improved asset management automation, cost-effectiveness and safety for the operating crew. This dissertation presents the development of a prototype industrial brachiating robot. The robot is mechanically simple and capable of dynamically negotiating obstacles by brachiating. This is an improvement over current robotic platforms, which employ slow, high power static schemes for obstacle negotiation. Mathematical models of the robot were derived to understand the underlying dynamics of the system. These models were then used in the generation of optimal trajectories, using nonlinear optimisation techniques, for brachiating past line hardware. A physical robot was designed and manufactured to validate the brachiation manoeuvre. The robot was designed following classic mechanical design principles, with emphasis on functional design and robustness. System identification was used to capture the plant uncertainty and a feedback controller was designed to track the reference trajectory allowing for energy optimal brachiation swings. Finally, the robot was tested, starting with sub-system testing and ending with testing of a brachiation manoeuvre proving the prospective viability of the robot in an industrial environment. | en_ZA |
| dc.identifier.apacitation | Patel, J. (2016). <i>Design, modelling and control of a brachiating power line inspection robot</i>. (Thesis). University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering. Retrieved from http://hdl.handle.net/11427/20464 | en_ZA |
| dc.identifier.chicagocitation | Patel, Javaad. <i>"Design, modelling and control of a brachiating power line inspection robot."</i> Thesis., University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering, 2016. http://hdl.handle.net/11427/20464 | en_ZA |
| dc.identifier.citation | Patel, J. 2016. Design, modelling and control of a brachiating power line inspection robot. University of Cape Town. | en_ZA |
| dc.identifier.ris | TY - Thesis / Dissertation AU - Patel, Javaad AB - The inspection of power lines and associated hardware is vital to ensuring the reliability of the transmission and distribution network. The repetitive nature of the inspection tasks present a unique opportunity for the introduction of robotic platforms, which offer the ability to perform more systematic and detailed inspection than traditional methods. This lends itself to improved asset management automation, cost-effectiveness and safety for the operating crew. This dissertation presents the development of a prototype industrial brachiating robot. The robot is mechanically simple and capable of dynamically negotiating obstacles by brachiating. This is an improvement over current robotic platforms, which employ slow, high power static schemes for obstacle negotiation. Mathematical models of the robot were derived to understand the underlying dynamics of the system. These models were then used in the generation of optimal trajectories, using nonlinear optimisation techniques, for brachiating past line hardware. A physical robot was designed and manufactured to validate the brachiation manoeuvre. The robot was designed following classic mechanical design principles, with emphasis on functional design and robustness. System identification was used to capture the plant uncertainty and a feedback controller was designed to track the reference trajectory allowing for energy optimal brachiation swings. Finally, the robot was tested, starting with sub-system testing and ending with testing of a brachiation manoeuvre proving the prospective viability of the robot in an industrial environment. DA - 2016 DB - OpenUCT DP - University of Cape Town LK - https://open.uct.ac.za PB - University of Cape Town PY - 2016 T1 - Design, modelling and control of a brachiating power line inspection robot TI - Design, modelling and control of a brachiating power line inspection robot UR - http://hdl.handle.net/11427/20464 ER - | en_ZA |
| dc.identifier.uri | http://hdl.handle.net/11427/20464 | |
| dc.identifier.vancouvercitation | Patel J. Design, modelling and control of a brachiating power line inspection robot. [Thesis]. University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering, 2016 [cited yyyy month dd]. Available from: http://hdl.handle.net/11427/20464 | en_ZA |
| dc.language.iso | eng | en_ZA |
| dc.publisher.department | Department of Electrical Engineering | en_ZA |
| dc.publisher.faculty | Faculty of Engineering and the Built Environment | |
| dc.publisher.institution | University of Cape Town | |
| dc.subject.other | Electrical Engineering | en_ZA |
| dc.subject.other | Power line inspection | en_ZA |
| dc.subject.other | Brachiating robot | en_ZA |
| dc.subject.other | Feedback control | en_ZA |
| dc.subject.other | Trajectory generation | en_ZA |
| dc.title | Design, modelling and control of a brachiating power line inspection robot | en_ZA |
| dc.type | Master Thesis | |
| dc.type.qualificationlevel | Masters | |
| dc.type.qualificationname | MSc (Eng) | en_ZA |
| uct.type.filetype | Text | |
| uct.type.filetype | Image | |
| uct.type.publication | Research | en_ZA |
| uct.type.resource | Thesis | en_ZA |