Design of a live maintenance mobile robot system for power substation equipment

Considering efficiency, labor costs and the risk of injury existing in maintenance methods for power substation equipment, this paper designs a live maintenance mobile robot system for power substation equipment, whose mechanical structure mainly includes mobile platform system based on Mecanum wheels and maintenance arm system. In addition, a kinematic model of the live maintenance mobile robot is established and analyzed. Furthermore, a novel hierarchical control system is proposed based on the fuzzy cognitive map and fuzzy control algorithm. Finally, simulation and experiment are implemented to verify the validity and feasibility of the proposed system, and the results shows the trajectory tracking error can be controlled within ±10mm, which can meet the work requirements of power substation maintenance.