{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T16:04:59Z","timestamp":1777910699198,"version":"3.51.4"},"reference-count":29,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2021,10,27]],"date-time":"2021-10-27T00:00:00Z","timestamp":1635292800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2022,4]]},"abstract":"<jats:p>High-voltage lines are an important channel for power transmission, and multi-split transmission lines are the main strength of power transmission. Compared with double-wheel single-wire maintenance robots, ultra-high-voltage multi-split transmission lines and four-wheel mobile robots have a wider application range and greater demand. The maintenance of multi-split transmission lines relies on the stable walking and control of four-wheel mobile robots on heterogeneous multi-split transmission lines. However, uncertain disturbance factors such as wind load in the complex field environment cause vibration of double-split and quad-split lines. The slight change in the line spacing causes the line contact to the edge of the robot\u2019s walking wheel, which increases the friction during the robot\u2019s walking. It also directly hinder the movement of the robot on the multi-split transmission line, thus restricting the completion of the robot\u2019s maintenance operation. Based on the analysis, this paper establishes a mathematical model of the external force disturbance influence on the spacing of the double-split lines. At the same time, the robot walking mechanics characteristics model under the change of the line space has been established. Three different forms of the robot walking online have been obtained through abstraction processing. A method of side friction identification based on fuzzy control has been proposed, through the online monitoring of the friction between line and edge of the walking wheel, the robot walking wheel motor walking force can be intelligently controlled in real time, and effectively avoids the \u201cwheel-line\u201d jam phenomenon under the external uncertain factors in the field environment. Finally, the feasibility and engineering practicability of the method have been verified through MATLAB\/ADAMS simulation and field operation experiments. Therefore, the automation and intelligence level of the operation and the transmission system maintenance management has been improved.<\/jats:p>","DOI":"10.1177\/01423312211043001","type":"journal-article","created":{"date-parts":[[2021,10,27]],"date-time":"2021-10-27T06:33:25Z","timestamp":1635316405000},"page":"1309-1322","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":20,"title":["Dynamic walking characteristics and control of four-wheel mobile robot on ultra-high voltage multi-split transmission line"],"prefix":"10.1177","volume":"44","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4870-5005","authenticated-orcid":false,"given":"Jiang","family":"Wei","sequence":"first","affiliation":[{"name":"Wuhan Textile University, Hubei Key Laboratory of Digital Textile Equipment, China"},{"name":"Wuhan Textile University, Hubei Engineering Research Center of Industrial Detonator Intelligent Assembly, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zou","family":"De hua","sequence":"additional","affiliation":[{"name":"Live Inspection and Intelligent Operation Technology State Grid Corporation Laboratory (State Grid Hunan Transmission Maintenance Company), China"},{"name":"Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment (ROBOT) (State Grid Hunan Transmission Maintenance Company), China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ma","family":"Shuangbao","sequence":"additional","affiliation":[{"name":"Wuhan Textile University, Hubei Key Laboratory of Digital Textile Equipment, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ye","family":"Gaocheng","sequence":"additional","affiliation":[{"name":"Wuhan Textile University, Hubei Key Laboratory of Digital Textile Equipment, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chen","family":"Wei","sequence":"additional","affiliation":[{"name":"Wuhan Textile University, Hubei Engineering Research Center of Industrial Detonator Intelligent Assembly, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2021,10,27]]},"reference":[{"key":"bibr1-01423312211043001","doi-asserted-by":"publisher","DOI":"10.1155\/2019\/2139462"},{"issue":"3","key":"bibr2-01423312211043001","first-page":"1225","volume":"101","author":"Bharadwaja Y","year":"2021","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"3","key":"bibr3-01423312211043001","first-page":"211","volume":"12","author":"Bouakrif F","year":"2016","journal-title":"International Journal on Advances in Manufacturing 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