Abstract
Power distribution requires preventive maintenance to avoid power outages. An automated system can achieve fast and consistent inspections. However, designing a distribution line inspection robot is a multidisciplinary task with design constrains from multiple areas. In this paper, the Multidimensional Map is presented: a conceptual design tool to aid the development of power lines inspection robots. Initially, the mechanical modelling is presented, showing how to evaluate safety factors. Then, the electronic components specifications are included in the database. The Multidimensional Map is implemented in a spreadsheet and evaluates the safety factors for a given robot concept, cable and desired autonomy. A case study shows how the Multidimensional Map can be used to analyze a given robot concept on 13.8 and 23.1 kV distribution lines. It is also shown how to determine the minimum requirements for a safety operation. The Multidimensional Map aided the design team in identifying the most promising concept.
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Notes
- 1.
Standard [8] is written in Portuguese and it uses cabo de alumínio (CA) to refer to all aluminum conductors (AAC).
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Acknowledgements
This work was made as part of the R &D project “Development of a Robotized System for Inspection of Electricity Distribution Lines” (05697-0317/2017), regulated by ANEEL and funded by Celesc. The project was executed at the Laboratory of Applied Robotics (LAR), at UFSC, and financially managed by FEESC. The authors also thank CNPq and CAPES for the financial support.
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Murai, E.H. et al. (2024). Multidimensional Map: A Conceptual Design Tool to Develop Robots for Power Lines. In: Youssef, E.S.E., Tokhi, M.O., Silva, M.F., Rincon, L.M. (eds) Synergetic Cooperation Between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems, vol 810. Springer, Cham. https://doi.org/10.1007/978-3-031-47269-5_5
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