Research and Design on Inspection Robot for High-Voltage Transmission Lines

Abstract:

The paper introduces a kind of inspection robot for high-voltage transmission lines from two parts:Mechanical structure and control system. Three arms is adopted in the mechanical structure, while the control system used a hierarchical modular control scheme is designed to a kind of three-layer control structure including the ground monitoring layer, the task decision layer and the action execution layer. The PC/104 and AT89C51 is used for the main control computer, and the MX-servo is used for the power drive components. Except for describing the robots working process of crossing obstacles in detail, the paper also introduces the responsibilities, hardware components, software design process of the control system. From the simulation experiment on motion control system using Matlab/Simulink, we can conclude that the motion control system of the robot has high-stability and reliability and meet the design requirements.

• Periodical: Advanced Materials Research (Volumes 850-851)
• Pages: 600-603
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.850-851.600
• Online since: December 2013
• Authors: Yan Liu, Yong Gang Wang, Jin Kai Xu, Xiao Zhou Li
• Keywords: Inspection Robot, MCU, PC/104, Steering Engine (Servo), Three Arms Structure

References

[1] Sawada J, Kusumoto k, Munatata T: IEEE Transactions on Power Delivery, 1991, 6(1): 309-315.

[2] China National Standardization Management Committee. Specifications of Crane Design (China Standardization Press, China 2008), pp.16-19. (In Chinese).

[3] Q. D. Zeng, Q. E. Li: Progress in Civil Engineering, Vol. 32 (2012) No. 9, pp.3077-3080. (In Chinese).

[4] Yong Zhou, Hong-kai Jiang, Qi-xun Zhou, Qing-jiang Zhang: Journal of System Simulation, vol. 163 (2003), pp.305-314.