Dissertation/Thesis Abstract

Modeling and Control of Cable-Riding Robots
by Dhundur, Ninad Pravin, M.S., University of Louisiana at Lafayette, 2013, 77; 1553884
Abstract (Summary)

Cables are used in various fields like construction, sports, communication, and transportation. Two important fields where cables are used for this research are transportation and high-voltage power lines. In the field of transportation, cables are used in cable-riding systems like cable cars, tramways, and gondola lifts. Vibration is induced in these systems. These vibrations are undesirable.

High-voltage power line cables are important part of our lives. Inspection of these power lines is necessary to eliminate the risk of power outages. Earlier power lines were inspected by skilled humans by crawling along the power lines. This inspection task was replaced by cable riding inspection robots to eliminate the risk to human life.

This research explains various inspection robots and problems in these types of cable-riding systems. In this research, to determine the vibrations in the cable due to riding load, a new simple cable-mass system was developed. This new cable-mass system makes it easy to develop a control system to reduce the cable vibrations.

To inspect the power lines, HiBot developed an inspection robot called Expliner that travels along the live power lines. For uninterrupted inspection operation, Expliner traverses obstacles on the power lines with its intelligent acrobatic mode. In this mode, Expliner is subjected to rocking oscillation. This rocking oscillation is also induced in the cables cars. This rocking is undesirable and is unsafe.

This research introduces a method to reduce rocking in cable-riding systems. This method, called input shaping, is used to run simulations for Expliner traveling along curved cables. This research develops an input shaper to reduce rocking in cable-riding robots like Expliner.

Indexing (document details)
Advisor: Vaughan, Joshua
Commitee: Elsayed, Mostafa, Liu, Yucheng
School: University of Louisiana at Lafayette
Department: Mechanical Engineering
School Location: United States -- Louisiana
Source: MAI 52/06M(E), Masters Abstracts International
Subjects: Mechanical engineering, Robotics
Keywords: Cable model, Cable-riding, Control, Input shaping, Robot, Vibration
Publication Number: 1553884
ISBN: 9781303823039
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