| The maintenance and patrolling of the high voltage line mainly depends on human inspection in China, which exhausts people easily and costs too much. Therefore we need the substitute method and equipment in this field. With the application of robot on patrolling line, it can decrease the labor of the workers, lower the cost, increases the quality of the patrolling work and higher the level of the management technology, which also keeps the worker security.The paper designs a mechanical structure suited to the line's characteristics according to the structural characteristics, which has three flexible arm. We design the mechanical solid model of the inspection robot and imitate its movement with Pro/E. In the control software, we transplantμC/OS-II OS to the LPC2210 MCU. The moving control software consists of C and assembly language, which used ADS1.2 as the developing platform. |
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