Robotics applied for safety improvement in the power distribution lines maintenance

摘要

This work describes the strategy for improving the safety of human labor in the maintenance services of electric power distribution networks. The improvement will be obtained by applying knowledge and techniques in the field of mechatronics and robotics. For the purpose, this work presents developments concerning two devices, (a) An automatic elevator attached to a light weight truck that help electrician to reach high positions, substituting the conventional ladder. The elevator has a computer-based controller allowing it to accomplish programmed movements and to avoid dangerous situations and operations, (b) A weight balancer, to help electricians to execute tree trimming around distribution lines, reducing the physical effort of the electrician to hold and manipulate the trimming equipment. The development is the result of several studies accomplished on efforts involved in the tree trimming activity using kinematics and dynamics models of linked arm.