TOMCAT (Teleoperator for Operations, Maintenance and Construction using Advanced Technology) was designed and built by Foster-Miller to perform high voltage transmission line maintenance without exposing personnel to electrical risk. Tasks performed by TOMCAT include insulator changeout, damper installation and visual inspection of towers and hardware. The system includes a force feedback manipulator on an insulated boom. For example, this manipulator can provide service for disassembly of threaded components. Particularly critical for this system was the ease of connection and the reliability of the tooling/tool interface. This was achieved by modifying the gripper to accommodate a universal interface that was provided with each specialized tool. The man/machine interface was also critical as the operator controls the operation safely from the ground using video feedback. Quickly changed tooling elements allows a range of tasks to be performed and high resolution CCTV cameras support remote viewing. Functional testing has included insulator string changeout, damper installation, splice installation, inspection and other complex tasks.
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