The Study And Plan On 4WD Mobile Carrier

Traditionally insulators are cleaned periodically so as to raise its flashover voltage thus keeping the transmitting lines safe. So sponsored by Lanzhou Power Bureau, Research Institute of Robotics, Shanghai Jiao Tong University, began to develop a new kind of 220/330KV high voltage hot-line cleaning robot, for the use of cleaning insulators. This project is also sponsored by National Science Foundation"863"commission.With development of the terrorism crime, explosive is often as a method to actualize the terrorism. And the models and scale of explosive are becoming more complex. In order to deal with the variety, Shanghai Jiaotong University develops a concept and initial prototype of"integration equipment of anti-terrorist robot".The dissertation is sponsored on the backgrounds of the two affairs mentioned above. The 4 wheels drive mobile carrier can be taken as the platform and mobile carrier of"the high voltage cleaning robot"and"the integration equipment of anti-terrorist robot", including:1. Analysis and design of the whole system. An appropriate structure is chosen for 4WD mobile carrier from wheel style structure with the clutch on the front bridge, wheel style structure with the clutch on both bridges, track style structure. An appropriate control scheme is chosen from PLC style, MCU style and PLC-MCU style. The delineation and the...