{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:23:51Z","timestamp":1754155431495,"version":"3.41.2"},"reference-count":10,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2014,3,11]],"date-time":"2014-03-11T00:00:00Z","timestamp":1394496000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2014,3,11]]},"abstract":"\n Purpose<\/jats:title>\n \u2013 In this article, a detailed design of a novel power line inspection robot is studied. This robot can be used to move on ground wires for special purposes such as inspection and fault detection of electric power lines. The paper aims to discuss these issues. <\/jats:p>\n <\/jats:sec>\n \n Design\/methodology\/approach<\/jats:title>\n \u2013 Designed active and passive mechanisms in the proposed robot enable it to move over various obstacles on ground wires, such as clamps, warning balls and mast tips. Indeed, this robot is the first designed robot with the capability of moving over all ground wire obstacles. The active mechanisms contain seven rubber-coated rollers (i.e. four vertical rollers and three horizontal rollers) as well as three mechanisms in order to make horizontal rollers move vertically. The passive mechanisms also include a set of spring-dampers installed in each joint of robot arms. <\/jats:p>\n <\/jats:sec>\n \n Findings<\/jats:title>\n \u2013 The simulation results in the ADAMS software revealed a desirable stability of performance when moving on the ground wires with a maximum slope of 30-degree. Also, the robot showed a suitable performance when passing over the warning balls (with a maximum diameter of 700\u2009mm), rectangular mast tips (170\u00d7170\u2009mm) and mast tips with a 30-degree twist in the horizontal plane. <\/jats:p>\n <\/jats:sec>\n \n Practical implications<\/jats:title>\n \u2013 The feasibility of these maneuvers is proved with a prototype implementation and successful test results. This robot is approximately 60\u2009kg weight and can move in ground wires with maximum speed of 20\u2009m\/min. <\/jats:p>\n <\/jats:sec>\n \n Originality\/value<\/jats:title>\n \u2013 The proposed robot is able to move on ground cable and pass over different kinds of obstacles like warning balls and mast tips (straight and angular) with maximum speed of 20\u2009m\/min.<\/jats:p>\n <\/jats:sec>","DOI":"10.1108\/ir-08-2013-386","type":"journal-article","created":{"date-parts":[[2014,3,19]],"date-time":"2014-03-19T09:50:51Z","timestamp":1395222651000},"page":"166-175","source":"Crossref","is-referenced-by-count":14,"title":["A novel design of inspection robot for high-voltage power lines"],"prefix":"10.1108","volume":"41","author":[{"given":"A.","family":"Mostashfi","sequence":"first","affiliation":[]},{"given":"A.","family":"Fakhari","sequence":"additional","affiliation":[]},{"given":"Mohammad","family":"Ali Badri","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2021010222405976200_b1","doi-asserted-by":"crossref","unstructured":"Aoshima, S.\n , \n Tsujimura, T.\n and \n Yabuta, T.\n (1989), \u201cA wire mobile robot with multi-unit structure\u201d, Proceedings of the IEEE\/RSJ International Workshop, Intelligent Robots and Systems, pp. 414-421.","DOI":"10.1109\/IROS.1989.637939"},{"key":"key2021010222405976200_b2","doi-asserted-by":"crossref","unstructured":"B\u00fchringer, M.\n , \n Berchtold, J.\n , \n B\u00fcchel, M.\n , \n Dold, C.\n , \n B\u00fctikofer, M.\n , \n Feuerstein, M.\n , \n Fischer, W.\n , \n Bermes, C.\n and \n Siegwart, R.\n (2010), \u201cCable-crawler \u2013 robot for the inspection of high-voltage power lines that can passively roll over mast tops\u201d, Industrial Robot: An Int. Journal, Vol. 37 No. 3, pp. 256-262.","DOI":"10.1108\/01439911011037659"},{"key":"key2021010222405976200_b3","doi-asserted-by":"crossref","unstructured":"Golightly, I.\n and \n Jones, D.\n (2005), \u201cVisual control of an unmanned aerial vehicle for power line inspection\u201d, 12th International Conference on Advanced Robotics, Seattle, WA, July 18-20, pp. 288-295.","DOI":"10.1109\/ICAR.2005.1507426"},{"key":"key2021010222405976200_b4","unstructured":"Higuchi, M.\n , \n Maeda, Y.\n , \n Tsutani, S.\n and \n Hagihara, S.\n (1991), \u201cDevelopment of a mobile inspection robot for power transmission lines\u201d, Journal of Robotic Society of Japan, Vol. 9 No. 4, pp. 57-63."},{"key":"key2021010222405976200_b5","doi-asserted-by":"crossref","unstructured":"Ishino, R.\n and \n Tsutsumi, F.\n (2004), \u201cDetection system of damaged cables using video obtained from an aerial inspection of transmission lines\u201d, IEEE Power Engineering Society General Meeting, Denver, CO, June 10-11, pp. 1857-1862.","DOI":"10.1109\/PES.2004.1373201"},{"key":"key2021010222405976200_b6","unstructured":"Montambault, S.\n and \n Pouliot, N.\n (2007), \u201cDesign and validation of a mobile robot for power line inspection and maintenance\u201d, Springer Tracts in Advanced Robotics, Field and Service Robotics, Proceedings of the 6th International Conference, pp. 1-10."},{"key":"key2021010222405976200_b7","doi-asserted-by":"crossref","unstructured":"Sawada, J.\n , \n Kusumoto, K.\n , \n Munakata, T.\n , \n Maikawa, Y.\n and \n Ishikawa, Y.\n (1991), \u201cA mobile robot for inspection of power transmission lines\u201d, IEEE Transactions on Power Delivery, Vol. 6 No. 1, pp. 309-315.","DOI":"10.1109\/61.103753"},{"key":"key2021010222405976200_b8","doi-asserted-by":"crossref","unstructured":"Toussaint, K.\n , \n Pouliot, N.\n and \n Montambault, S.\n (2009), \u201cTransmission line maintenance robots capable of crossing obstacles: state-of-the-art review and challenges ahead\u201d, Journal of Field Robotics, Vol. 26 No. 5, pp. 477-499.","DOI":"10.1002\/rob.20295"},{"key":"key2021010222405976200_b9","doi-asserted-by":"crossref","unstructured":"Tsujimura, T.\n and \n Morimitsu, T.\n (1997), \u201cDynamics of mobile legs suspended from wire\u201d, Robotics and Autonomous Systems, Vol. 20 No. 1, pp. 85-98.","DOI":"10.1016\/S0921-8890(97)00019-5"},{"key":"key2021010222405976200_b10","doi-asserted-by":"crossref","unstructured":"Wang Peng, W.\n , \n Feng, L.\n , \n Guanqun, W.\n , \n Kefei, W.\n and \n Shengwei, M.\n (2010), \u201cResearch on self-power supply system of inspection robot for high-voltage power transmission lines\u201d, International Conference on Intelligent System Design and Engineering Application, Changsha, October 13-14, pp. 244-247.","DOI":"10.1109\/ISDEA.2010.178"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/IR-08-2013-386","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-08-2013-386\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-08-2013-386\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:38Z","timestamp":1753393178000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/41\/2\/166-175\/187578"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,3,11]]},"references-count":10,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2014,3,11]]}},"alternative-id":["10.1108\/IR-08-2013-386"],"URL":"https:\/\/doi.org\/10.1108\/ir-08-2013-386","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2014,3,11]]}}}