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

descriptionPublicationkeyboard_double_arrow_right Article 01 Jan 2021 Spain Publisher:Institute of Electrical and Electronics Engineers (IEEE)Journal:IEEE Access, volume 9, pages 94,573-94,585 (eissn: 2169-3536,

Copyright policy )Funded by:EC | AERIAL-CORE, EC | GRIFFIN

Authors: Alejandro Suárez; Rafael Salmoral; Pedro J. Zarco-Periñán; Aníbal Ollero;

doi: 10.1109/access.2021.3093856

handle: 11441/136899

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

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Abstract

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.

Consejo Europeo de Investigación 788247

Comisión Europea H2020-2019-87147

Article number 9469805

Country

Spain

Related Organizations

University of Seville
Spain
Universidad de Sevilla (US)
Spain

Keywords

Electrostatic Discharge, Aerial manipulation, Electrostatic discharge, Aerial Manipulation, Power Lines, electrostatic discharge, Electrical engineering. Electronics. Nuclear engineering, Power lines, power lines, TK1-9971

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