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

Abstract

In view of the deficiencies of current inspection methods on high-voltage transmission lines, the paper introduces a kind of inspection robot from two parts of mechanical structure and control system. A three-arm structure is adopted in the mechanical structure, while the control system is composed of the supervisory control subsystem on the ground and the body control subsystem. The PC/104 and AT89S52 are used for the master controller and control chip, and the BLDC is used for the power drive component. Through the simulation analysis by Matlab/Simulink, the anti-interference performance and speed control performance of the walking wheel motor control system is explored. Besides, conclusion that the walking wheel motor control system meets the requirement of speed is drawn.

Fabrication and Evaluation of a Clamshell Line Inspection Robot

“…Using the relation between velocity, time, and distance, the speed was calculated to be 3.2445 km/h. This was marginally quicker than the desired 3 km/h but was still deemed acceptable when compared to studies in [5], [25]. The minor excess of speed was not of major concern since the speed of the robot itself could be varied via the joystick controls.…”

“…Another design presented in [5] shows another Tri-arm design that uses planned arm movement to avoid obstructions in the power line through a series of complex control systems that clamp and unclamp a palm wheel design as well as maneuver three separate arms around an obstruction.…”

Electromagnetic Navigation Linear Displacement Transducer Based on Magnetic Field Gradient Technique

“…To enable navigation capability in inspection vehicles, it is crucial to develop high-performance linear displacement transducers (LDTs) [7]. Currently, there are two major types of LDTs for electromagnetic navigation, namely sensing arrays and inductance comparators [8]- [10].…”