활선 내장애자련 청소 및 점검용 로봇 시스템의 개발

Development of Robot System for Cleaning & Inspection of Live-line Tension Insulator String

A new cleaning robot system for live-line tension insulator string was developed to prevent an insulator failure, which can have severe effects on national security as well as national industry and economy. The robot moves along the insulator string using the clamps installed on its two moving frames. Especially, unlike the existing cleaning robots using jets of water or water/air, the robot system adopts dry cleaning method using a rotating brush and a circular motion guide. This robot system has control architecture consisting of a master control unit and two slave control units. We confirmed its effectiveness through experiments.