Research on Control System of Truss Manipulator and Inspection of Various Motion Mechanisms

Abstract

With the development of high voltage power stations, indoor inspection has been transformed from manual mode to mechanization and intelligence, which not only ensures the safety of personnel, but also improves the efficiency and quality of inspection. Among them, the manipulator plays an important role, which can perform various maintenance, installation, disassembly and other work. In order to better understand the motion mechanism of the manipulator, the paper studies the control system of the truss manipulator and its various motion mechanisms. The results show that the control system of the truss manipulator is mainly composed of the upper machine and the lower machine. The manipulator of the truss is controlled by the upper machine and the lower machine, including the disassembly and assembly of bolts. Finally, the movement mechanism of bolt disassembly, up and down movement and I-plate forward and backward movement are tested, and the corresponding limit speed and position are obtained during operation. For example, when bolt disassembly is performed, the maximum speed of the motor is 600 rpm, and the limit value of distance between the sensor and the upper and lower surface is 0.554 m. When moving up and down, the maximum speed is 900 rpm, and the limited distance between the sensor and the upper lower surface is 0.278 m. When moving back and forth, the motor speed reaches 120 rpm, and the limit distance value is 0.346 m. This study provides more choices for the application of truss manipulator in substation, and has a more obvious promoting role.