Mechanism, Design and Kinematics for a Transmission Line Inspection Robot

Abstract

This paper describes an inspection bot which is used to inspect the faults in the transmission line, if it is present then the information can be provided to clear it before it affects the system performance. Robot is robust in construction, flexible in tracing the line and efficient in inspecting certain faults in the line. Robot consists of few sensors with camera for the inspection purpose, it also consists motors of different ratings placed at different positions to be run based on the controlling persons instructions. Raspberry-pi are used as control unit for the locomotion as well as camera operation and the sensors performance. Here the Robot usually traverse along the path of the transmission line while observing the environment conditions through camera and clearing the obstacles if any through kinematics designed. Robot while tracing the line continuously, visualizes it on the monitor screen through camera, so the data is recorded and can be shared with the controlling/operating person to make necessary arrangements to avoid any mis operations. Obstacle clearing is done using the arm frame of the system, where the sensors are used to sense the distance of the obstacle, to avoid any delay in operation, thus the robot keeps on inspecting the line throughout the minimum distance it is designed for, and transfers the data to the person of control using Microcontroller [control unit] and necessary work should be done to maintain the performance. This method can be used as it is efficient, comparingly less cost and more safety from the other method of inspection.