چكيده به لاتين
Today, the use of robots that are able to penetrate areas with hard environmental conditions has attracted the attention of artisans in a variety of industries, including the power industry. In this industry, skilled manpower is used to inspect or repair transmission lines. But because of the hazardous working environment, the workforce in this part of the electricity industry is at risk. So, to solve this problem, various robots have been developed, which some of them are merely birds, and others are simply mounted on the lines and moving around, each of which has its own problems.
The main purpose of this thesis is to design and control a robot capable of moving near power lines. In addition, the robot has a double-link arm that can be used for a variety of purposes, including close proximity to any distribution power line, such as monitoring the situation at a short distance from the wire, and subsequently making some repairs. The robot keeps its distance from the wire as desired while moving near the transmission lines until it reaches the towers with tug insulators.It is assumed that the robot is first manually operated and driven by a remote control near the transmission lines. Then, completely autonomously, depending on the size of the magnetic field, the robot measures its distance from the field and keeps it within our desirable range.For this purpose, first, the dynamics of the quadrotor equiped with a robotic arm was extracted. Then, in order to calculate the mass, spring and damping matrices, dynamic equations have been entered into Maple software and the robot model has been obtained.
Then, due to the complex dynamics of the quadrotor with a robotic arm and the existence of the underactuated problem in the control section, the feedback linearization method is used to control the robot; the simulation results in MATLAB software show the capability of the control method.
In the next step, it was of importance to use a mechanism to allow the quadrotor to follow the wire path. By using a sensor for measuring the magnetic field on the quadrotor and measuring the magnitude of the magnetic field, the distance from the wire was obtained; then an algorithm was presented that, by giving the distance from the wire and considering the change of the magnetic field in the quadrotor path, the next points of the desirable path were provided. The desirable path here is a path that is as parallel to the wire as possible; that is, a longitudinal movement by maintaining a certain distance from the wire. But to achieve this goal, it took too much time to identify the path, and on the other hand, because the system was discrete, the time intervals had to be shortened. Therefore, instead of moving with a specified distance from the wire, longitudinal movement by keeping the distance in a specified interval was chosen.Simulation results were also presented for inspection of the distribution lines between the two towers, which shows the capability of the suggested model and algorithm. Finally, an experimental test was designed for practically assessing the wire tracking algorithm, which considers the capability of the algorithm.
