This work presents the application of an aerial manipulation robot for the semi-autonomous installation of clip-type bird flight diverters on overhead power line cables. A custom-made prototype is designed, developed, and experimentally validated. The proposed solution aims to reduce the cost and risk of current procedures carried out by human operators deployed on suspended carts, lifts, or manned helicopters. The system consists of an unmanned aerial vehicle (UAV) equipped with a custom-made tool. This tool allows the high force required for the diverter installation to be generated; however, it is isolated from the aerial robot through a passive joint. Thus, the aerial robot stability is not compromised during the installation. This paper thoroughly describes the designed prototype and the control system for semi-autonomous operation. Flight experiments conducted in an illustrative scenario validate the performance of the system; the tests were carried out in an indoor testbed using a power line cable mock-up.


    Access

    Download


    Export, share and cite



    Title :

    Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation



    Publication date :

    2021-08-12


    Remarks:

    oai:zenodo.org:5705103
    Applied Sciences 11(7427) 1-16



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629





    Development of a Control Framework to Autonomously Install Clip Bird Diverters on High-Voltage Lines

    D'Angelo, Simone / Pagano, Francesca / Ruggiero, Fabio et al. | IEEE | 2023


    Testbed Prototype of an Unmanned Aerial Vehicle Design

    Leite, Victor M.D.M. / Conceicao, Andre Gustavo S. | IEEE | 2016


    Multi-UAV testbed for aerial manipulation applications

    Montufar, D. I. / Munoz, F. / Espinoza, E. S. et al. | IEEE | 2014