Experimental Evaluation of Aerial Manipulation Robot in Contact With 15 kV Power Line: Shielded and Long Reach Configurations

The use of aerial manipulators for the inspection and maintenance power grid requires safe interaction robot with high voltage lines. In order to identify possible faults or malfunctions during approaching phases, this paper presents experimental results in a real 15 kV line, considering four different configurations manipulator: 1) aluminum tube attached landing gear, 2) robotic arm multi-rotor base, 3) shielded manipulator, 4) long reach configuration (insulated). investigates electromagnetic susceptibility autopilot electronic speed controllers electrostatic discharge (ESD) raised when manipulator touches causing momentary failure rotors. A model effects associated line is provided, comparing later effectiveness two solutions shielding, insulation.