Experimental Evaluation of Aerial Manipulation Robot for the Installation of Clip Type Bird Diverters: Outdoor Flight Tests

Abstract

This paper presents an aerial manipulation robot intended to conduct the installation of clip-type bird diverters on power lines, consisting of a multirotor platform equipped with a high force linear actuator and a clamp mechanism that holds the device until it is exerted on the cable. The installation mechanism has been specifically designed for a particular model of bird flight diverter that is extensively employed on the Spanish power grid. The paper analyzes the risks involved in this operation and describes the approach followed in the validation of the aerial robot, from the installation in indoor testbed, to representative outdoor scenario, and preliminary flight tests on a 15 kV power line to identify possible malfunctions on the platform due to the electrostatic discharge.