A mobile manipulator for installation and removal of aircraft warning spheres on aerial power transmission lines

A semi-autonomous robot for autonomous installation and removal of aircraft warning spheres on overhead wires of electric power transmission lines is described. Hybrid systems methodology was used to model the basic modes of operation of the robot, which includes both autonomous and tele-operation possibilities. Several sensors and actuators including a custom made gripper are used to accomplish the demanded tasks. The robot was built and tested in real operational situations and proved to be both efficient and robust. It will enable power distribution companies to replace current highly dangerous operations which are normally performed by a human operator placed in a helicopter hovering a few meters away of hotlines. Broader use of this robot in several other common tasks such as line inspection and cleaning, cable changing and object transportation are discussed.