Proceedings of the 3rd International Conference on Mechatronics, Robotics and Automation

Kinematic analysis, modeling and simulation of the substation inspection robot

Authors
Jinbo Zhang, Zong Wu, Shuai Lu
Corresponding Author
Jinbo Zhang
Available Online April 2015.
DOI
https://doi.org/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.
Open Access
This is an open access article distributed under the CC BY-NC license.

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Volume Title
Proceedings of the 3rd International Conference on Mechatronics, Robotics and Automation
Series
Advances in Computer Science Research
Publication Date
April 2015
ISBN
978-94-62520-76-9
ISSN
2352-538X
DOI
https://doi.org/10.2991/icmra-15.2015.132How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

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  - https://doi.org/10.2991/icmra-15.2015.132
ID  - Zhang2015/04
ER  -