Research On Control System Of Dual-Wheel-Dual-Arm Inspection Robot

The overhead transmission line is the main mode of national transportation of electric power.In order to ensure the reliability and stability of the circuit,it must be tested and maintained on schedule.The traditional manual inspection is time consuming,dangerous and low precision.The inspection robot can replace the inspection workers to carry out the inspection work,which saves manpower,improves the inspection efficiency and detection accuracy,and improves the line operation and maintenance level.At present,the inspection robot without obstacle crossing function has been increasingly improved,but the inspection robot with obstacle crossing ability is still in the research and development stage,and there is no inspection robot that can cross the tension tower.According to the working environment and nature of the inspection robot,we need it to be able to cross all kinds of obstacles,including tension tower,to complete the long-distance inspection work without frequent on-line and off-line.The characteristics and research status of inspection robots with different structures at home and abroad are described,and the representative inspection robots are briefly introduced.According to the realistic environment of high voltage overhead transmission line and characteristics of the aerial work,the team proposed a round of inspection robot arm type composite institutional obstacle:has two mechanical arm and two walking wheels,crawling,can steadily online and use the double arms and coordination across the common obstacles including tension tower.Through the kinematics analysis of the structure,it is proved that the structure is reasonable,feasible and can meet the requirements of obstacle jumping.The corresponding control system is designed and developed to meet the functional requirements of the inspection robot,and the obstacle-crossing control strategy combining the autonomous control mode and master-slave control mode is adopted to realize the inspection and obstacle-crossing operations in various complex environments.A brushless dc servo control system is developed to meet the requirements of the inspection robot's mechanical arm,which can meet the requirements of the two-wheel and two-arm inspection robot's obstacle crossing.Three-ring control is adopted to satisfy the precision requirement of the servo control and the dynamic characteristic requirement of the servo control.The trajectory planning of obstacle crossing action of inspection robot is made,and the process of automatic obstacle crossing is simulated and analyzed by ADAMS.The simulation results prove the correctness and feasibility of the trajectory planning method and the real-time path generation method adopted in this paper,and also verify that the method meets the requirements of the obstacle crossing control of the two-wheel and two-arm inspection robot.