| 摘要 |
This application for a patent refers to a robot able to move over suspended lines/cables (3.3) while executing missions such as generic inspection/monitoring, e.g., of the lines themselves, environment r fauna and flora/ and repair of the lines and related infrastructures. The proposed robot contains a kinematic structure, allowing locomotion gaits of statically stable and dynamically stable types, characterized by a main body (3.9) with 5 degrees of freedom, and 3 points (3.2, 3.4, 3.5) where to connect the main body to the line, allowing different rigidity degrees (compliance) in the coupling/grabbing; a reachable space that allows the transposition of the obstacles that commonly arise in suspended lines and of the corresponding support structures; individual controllers for each actuator and a general controller to generate the locomotion gait and manage all the functions required to the good execution of the missions assigned to the robot; a payload area, e.g., to carry onboard monitoring sensors. |
