Kinematic analysis, modeling and simulation of the substation inspection robot

DOI

10.2991/icmra-15.2015.132How to use a DOI?

Keywords

Transformer substation; Inspection robot; Kinematics; Simulation

Abstract

As a development direction of power grid, Smart grid has entered the stage of comprehensive construction, the detection and management of the intelligent substation's integrated parameter has become an increasingly prominent. The traditional manual inspection can't meet the requirements of modern intelligent substation and it is a trend that the substation inspection robot will replace the traditional manual inspection gradually. This paper is based on the kinematics model of the robot and drive motor’s dynamics model. We use the Matlab/Simulink software to establish the mathematical model of mobile robot and conduct the model simulation according to the relevant parameters. The result of our research shows that the double closed-loop control which we adopt in this passage has a strong tracking ability and a strong anti-interference capability; it can completely meet the performance requirements of substation inspection robot.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Jinbo Zhang
AU  - Zong Wu
AU  - Shuai Lu
PY  - 2015/04
DA  - 2015/04
TI  - Kinematic analysis, modeling and simulation of the substation inspection robot
BT  - Proceedings of the 3rd International Conference on Mechatronics, Robotics and Automation
PB  - Atlantis Press
SP  - 681
EP  - 689
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmra-15.2015.132
DO  - 10.2991/icmra-15.2015.132
ID  - Zhang2015/04
ER  -