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Home Search Collections Journals About Contact us My IOPscience Design of a Micro Cable Tunnel Inspection Robot This content has been downloaded from IOPscience. Please scroll down to see the full text. 2016 IOP Conf. Ser.: Mater. Sci. Eng. 157 012032 (/1757-899X/157/1/012032) View the table of contents for this issue, or go to the journal homepage for more Download details: IP Address: 4 This content was downloaded on 26/05/2017 at 21:43 Please note that terms and conditions apply. 2016 Second International Conference on Mechanical Engineering and Automation Science IOP Publishing IOP Conf. Series: Materials Science and Engineering 157 (2016) 012032 doi:10.1088/1757-899X/157/1/012032 Design of a Micro Cable Tunnel Inspection Robot 1 2 1 3 Wei Song , Lei Liu , Xiaolong Zhou , Chengjiang Wang 1State Grid Chongqing Electric Power CO. Electric Power Research Institute, Chongqing; 2Harbin Institute of Technology Shenzhen Graduate School, Shenzhen; 3Shenzhen Institute of Advanced Smart Technology, Shenzhen. Abstract ：As the ventilation system in cable tunnel is not perfect and the environment is closed, it is easy to accumulate toxic and harmful gas. It is a serious threat to the life safety of inspection staff. Therefore, a micro cable tunnel inspection robot is designed. The whole design plan mainly includes two parts: mechanical structure design and control system design. According to the functional requirements of the tunnel inspection robot, a wheel arm structure