Design And Implementation Of Suspended Inspection Robot

Transmission network security is very important to the power systems,so Government need to check high-voltage corridor frequently to ensure the safety of the line itself and the surrounding environment. Actually, the power distribution lines are often associated with roads, rivers, railways and other crosses, and sometimes even needed to cross mountains. It will be very difficult to check these places for people. In this situation, we need an inspection robot which can walk on the ground wire and check the below ground. The main contents of this paper is to design a self-walking inspection robot which can walk on the ground wire and cross obstacles. The design contains the following three parts :Firstly,The inspection robot is suspended on the power line with three wheeled arms. Then according to the program, the robot’s arm is designed as four-bar linkage. Then take kinematics analysis and kinematic simulation on this mechanical to verify the feasibility of the mechanical structure and identify the specific dimensions of the mechanical parts. Finally, buy the materials, and make into an inspection robot prototype.Secondly, Design inspection robot control system which consists of two parts including hardware and software systems. ds PIC30F6015 is selected as the control chip in this paper. The hardware part includes overall hardware architectures, peripherals control circuit of control chip, navigation systems, motors, motor drivers circuits,the communication module, the power capacity. Software part includes navigation, walking,obstacle-crossing, communications and so on.Thirdly, build the experimental environment and take functional testing. The inspection robot can walk and cross obstacles in the testing, which satisfied the requirements of the design. This trial makes a foundation for the future improvements and practical applications.