{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,23]],"date-time":"2026-01-23T18:56:46Z","timestamp":1769194606805,"version":"3.49.0"},"reference-count":25,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2024,8,29]],"date-time":"2024-08-29T00:00:00Z","timestamp":1724889600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2024,12,2]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>By analyzing the shortcomings of existing insulator robots, a novel ultra high voltage (UHV) insulator climbing robot, which could transfer between adjacent insulator strings, is proposed for operation on 800KV multiple-string insulators. An extended inchworm-like configuration was chosen and a stable gripping claw suitable for the insulator string was designed to enable the robot to multiple-string insulators. Then a set of nonheuristic structural parameters that can influence energy consumption was chosen to formulate a nonlinear optimization problem based on the configuration, which improved the energy efficiency of the robot during progressing along a string of insulator.<\/jats:p>\n<\/jats:sec>\n<jats:sec><jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The purpose of this paper is to design an insulator climbing robot for operation on UHV multiple-string insulators, which could transfer between adjacent insulator strings and progressed along a string of insulator with high energy efficiency.<\/jats:p>\n<\/jats:sec>\n<jats:sec><jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>A physical prototype was constructed that can operate at the speed of six pieces per minute (approximately 1.44 meters per minute) on a single string and complete transference between adjacent strings in 45 s. The energy consumption of joints during progressed along a string of insulator had been reduced by 38.8% with the optimized parameters, demonstrating the consistency between the experimental and simulation results.<\/jats:p>\n<\/jats:sec>\n<jats:sec><jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>An insulator climbing robot for operation on UHV multiple-string insulators has been developed with energy consumption optimization design. The robot can transfer between adjacent insulator strings and progressed along a string of insulator with high energy efficiency. The CLIBOT could be expanded to detect or clean the insulators with similar specification.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-02-2024-0064","type":"journal-article","created":{"date-parts":[[2024,8,28]],"date-time":"2024-08-28T05:23:44Z","timestamp":1724822624000},"page":"985-996","source":"Crossref","is-referenced-by-count":1,"title":["Design and experiment of CLIBOT, a novel UHV insulator climbing robot with discrete optimization"],"prefix":"10.1108","volume":"51","author":[{"given":"Yunxiang","family":"Li","sequence":"first","affiliation":[]},{"given":"Yunfei","family":"Ai","sequence":"additional","affiliation":[]},{"given":"Jinzhou","family":"Zou","sequence":"additional","affiliation":[]},{"given":"Liangyu","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Chengjian","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Siheng","family":"Fu","sequence":"additional","affiliation":[]},{"given":"Dehua","family":"Zou","sequence":"additional","affiliation":[]},{"given":"Wang","family":"Wei","sequence":"additional","affiliation":[]}],"member":"140","published-online":{"date-parts":[[2024,8,29]]},"reference":[{"issue":"2","key":"key2024112907362212700_ref001","doi-asserted-by":"crossref","first-page":"166","DOI":"10.1108\/IR-07-2016-0182","article-title":"Tele-operated propeller-type climbing robot for inspection of petrochemical vessels","volume":"44","year":"2017","journal-title":"Industrial Robot: An International Journal"},{"issue":"20","key":"key2024112907362212700_ref002","doi-asserted-by":"crossref","first-page":"1042","DOI":"10.1080\/01691864.2019.1657948","article-title":"EJBot-II: an optimized skid-steering propeller-type climbing robot with transition mechanism","volume":"33","year":"2019","journal-title":"Advanced Robotics"},{"key":"key2024112907362212700_ref003","first-page":"4315","article-title":"Climbing walls with microspines. 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