Desenvolvimento de módulos robóticos para instalação de amortecedores de vibração em cabos de alta tensão

Abstract

The application of robots in high-voltage power line maintenance operations has gradually advanced over the past decades, with notable emphasis on mobile robot systems. However, despite the progress achieved, many challenges related to the development of such robots persist. Among the desirable features for these robots are: reliability, autonomous operation, low weight, high obstacle-transposing capability, and shielding against electromagnetic interference, many of which remain insufficiently addressed in existing robotic systems. Considering this, the present dissertation proposes the development of robotic modules for the installation of vibration dampers on high-voltage power lines. These robotic modules were designed to perform specific maintenance tasks in energized and hard-to-reach environments. This work describes the design, development, construction, and experimental testing of two robotic modules: one for the installation of Stockbridge-type dampers, and another for the installation of preformed-type vibration dampers. The dissertation also presents a shielding procedure for the robotic modules against electromagnetic interference and electrostatic discharges originating from transmission lines of up to 138 kV. Field tests carried out at the facilities of a power utility company demonstrated the modules’ effectiveness in overcoming a significant portion of existing limitations, positioning the developed solutions as promising alternatives in the field of high-voltage line maintenance robotics.