Research and design on inspection Robot for high-voltage transmission lines

被引：1
|
作者：
Liu, Yan [1 ]
Wang, Yonggang [1 ]
Xu, Jinkai [1 ]
Li, Xiaozhou [1 ]
机构：
[1] Changchun Univ Sci & Technol, Inst Guidance & Countermeasure Technol, Changchun 130033, Jilin, Peoples R China
来源：
ADVANCES IN APPLIED SCIENCES AND MANUFACTURING, PTS 1 AND 2 | 2014年 / 850-851卷
关键词：
inspection robot; three arms structure; PC/104; MCU; steering engine (servo);
D O I：
10.4028/www.scientific.net/AMR.850-851.600
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
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 robot's 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.
引用
收藏
页码：600 / 603
页数：4
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