Development of A Robot System Performing Maintenance Tasks on HighVoltage Power Transmission Lines Performing maintenance tasks on highvoltage Power Transmission Lines (PTLs) at high altitude is dangerous and tedious, hence demands robots to take place of human being. In this paper, a robot system is developed to fulfill three of typical maintenance tasks. These tasks are adjusting vibration dampers, cleaning the current deflectors and assembling cotter pin. In general, different tasks require different endeffectors, and work at height demands the system simple and lightweighted. To this end, three special endeffectors are designed by modular method so that they can be connected to a manipulator and changed for the corresponding tasks, similar to a CNC machining center. The whole robotic system consists of three endeffector modules, a tool exchange device, a lightweight 5DoF modular manipulator, and a desktop level modular master robot for remote control of the manipulator. The architecture and integration of the system are presented in detail, while experiments are carried out to verify the feasibility and effectiveness of the proposed setup. It is shown that such a system will bring new robotic applications in the working at height of power industry.

Design and Implementation of a Contact Aerial Manipulator System for GlassWall Inspection Tasks Glass curtain walls have been widely used in modern architecture. This makes it urgent to inspect and clean these glasses at regular intervals. Up to now, most of these work is performed by workers, which is expensive and inefficient. Therefore, a novel robotxe2x80x94the contact aerial manipulator systemxe2x80x94is developed. The new designed system presents priorities in the aspects of high flexibility and easy operation. In this paper, the system mechanical structure is first introduced. Subsequently, the hybrid forcemotion control framework is utilized to realize the precise and steady motion on the twodimensional plane and maintain a certain sustained contact force, simultaneously. Finally, two flight experiments (including continuous squarewave trajectory tracking and aerial drawing task) are performed and the results indicate that the developed contact aerial manipulator works and presents good performance.