Design of a line crawling robot with an intelligent hybrid control system.

摘要

This thesis presents the analysis, design, and simulation of a robot with an intelligent control system. The robot is designed to crawl on high voltage transmission lines and to carry payloads for inspection, diagnostics, and maintenance of components of the lines. Using the reconfigurable servo systems the robot, achieves the required mobility and explores the advantages of its various configurations as a result of its redundant multifunctional mechanical design. Many different maneuvers of the robot were introduced to make it possible to avoid and crawl around obstacles on the overhead lines. The hybrid behavior based control system with deliberative planning deals with unpredictable environment, working conditions and changing missions of the robot.