Robotic Maintenance of Overhead Transmission Lines

This paper covers the design, assembly, and field testing of the TOMCAT Component Evaluation Unit (CEU). TOMCAT is an acronym for Teleoperator for Operations, Maintenance, and Construction using Advanced Technology. The unit was developed in the performance of Phase 2 of EPRI Project No. RP14967-1, "Remote Controlled Maintenance Device" system development program. The objective of this effort was to design, fabricate, assemble, and evaluate a remotely controlled manipulator system for the maintenance and repair of overhead transmission lines based upon the utilization of as many off-the-shelf components as practical. The major intent was to develop the design information necessary for a field operable prototype. The component evaluation unit was assembled and then evaluated under energized and deenergized conditions. Information gathered from the evaluation will form the design criteria for the follow-on prototype system.