Research on Optimal Control Strategy for Unpowered Downslope of High-Voltage Inspection Robot Based on Motor Temperature Rise in Complexity Microgrid Networks

Figure 2

Configuration diagram of the patrol robot for crossing obstacles. (1) Ground wire; (2) front wheel; (3) rear wheel; (4) antivibration hammer; (5) forearm collision detection sensor; (6) forearm pressing mechanism; (7) switching circuit; (8) energy storage battery; (9) body; (10) rear arm pressing wheel; (11) forearm; (12) rear arm; (13) rear arm collision detection sensor.