Rodríguez Castaño, ÁngelNekoo, Saeed RafeeRomero Rodríguez, HonorioSalmoral Lorenzo-Arroyo, RafaelAcosta Rodríguez, José ÁngelOllero Baturone, Aníbal2021-09-202021-09-202021Rodríguez Castaño, Á., Nekoo S.R., , Romero Rodríguez, H., Salmoral Lorenzo-Arroyo, R., Acosta Rodríguez, J.Á. y Ollero Baturone, A. (2021). Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation. Applied Sciences, 11 (16), Article number 7427.2076-3417https://hdl.handle.net/11441/126031Article number 7427This work presents the application of an aerial manipulation robot for the semi-autono-mous installation of clip-type bird flight diverters on overhead power line cables. A custom-made prototype is designed, developed, and experimentally validated. The proposed solution aims to reduce the cost and risk of current procedures carried out by human operators deployed on sus-pended carts, lifts, or manned helicopters. The system consists of an unmanned aerial vehicle (UAV) equipped with a custom-made tool. This tool allows the high force required for the diverter installation to be generated; however, it is isolated from the aerial robot through a passive joint. Thus, the aerial robot stability is not compromised during the installation. This paper thoroughly describes the designed prototype and the control system for semi-autonomous operation. Flight experiments conducted in an illustrative scenario validate the performance of the system; the tests were carried out in an indoor testbed using a power line cable mock-up.application/pdf16 p.engAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Arial manipulationClip-type bird flight divertersHigh-voltage power linesInspection and maintenanceMultirotor systemsinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/openAccesshttps://doi.org/10.3390/app11167427