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<p>Crossing construction over existing infrastructure may cause substantial economic losses and introduce serious safety risks. Therefore, improving the safety and efficiency of live-line crossing construction is of practical importance. This paper proposes a cable-net deployment robot system that automates the installation of protective barriers on energized transmission lines. The system integrates a mobile robot with multiple cooperative deployment units and incorporates mechanisms for stable locomotion, anti-fall self-locking, and axial locking. Experiments under simulated operating conditions demonstrated that the system maintained structural stability under a maximum load of 5750 N, withstood a 22&#xa0;kg equivalent impact mass at a 5&#xa0;m drop height, climbed a 15° slope without slippage of the conical magnetic-adsorption wheels, and exhibited a traction force of approximately 41 N during steady motion, with fluctuations of 15–65 N during obstacle traversal. Moreover, a clear, consistent fluctuation pattern between traction and wheel angular velocity enabled adaptive locomotion across varying conditions. These results verify the feasibility and reliability of the proposed system and provide a practical robotic solution for improving the safety and efficiency of live-line barrier installation.</p>

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Cable-net deployment robot for automated protective barrier installation on the transmission lines

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年7月4日

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  • Le Wang,
  • Guoshan Xie,
  • Yu Liu,
  • Jie Tang

摘要

Crossing construction over existing infrastructure may cause substantial economic losses and introduce serious safety risks. Therefore, improving the safety and efficiency of live-line crossing construction is of practical importance. This paper proposes a cable-net deployment robot system that automates the installation of protective barriers on energized transmission lines. The system integrates a mobile robot with multiple cooperative deployment units and incorporates mechanisms for stable locomotion, anti-fall self-locking, and axial locking. Experiments under simulated operating conditions demonstrated that the system maintained structural stability under a maximum load of 5750 N, withstood a 22 kg equivalent impact mass at a 5 m drop height, climbed a 15° slope without slippage of the conical magnetic-adsorption wheels, and exhibited a traction force of approximately 41 N during steady motion, with fluctuations of 15–65 N during obstacle traversal. Moreover, a clear, consistent fluctuation pattern between traction and wheel angular velocity enabled adaptive locomotion across varying conditions. These results verify the feasibility and reliability of the proposed system and provide a practical robotic solution for improving the safety and efficiency of live-line barrier installation.