中文摘要：

针对目前轮臂式高压巡检机器人机体过重、巡检效率低下以及容易打滑问题，提出了一种基于磁悬浮的高压直流输电线路巡检机器人的技术方案；利用高压直流导线周围的磁场，采用全新的磁悬浮技术，使机器人能悬浮于线路之上，并利用洛伦兹力牵引机器人移动，从而简化巡检机器人的结构，提高巡检效率，彻底消除打滑问题．根据架空高压直流输电导线周围的磁场特性，设计了实现磁力悬浮和磁力驱动的线圈结构以及与之相适应的机器人的总体结构，阐述了磁力驱动和磁力悬浮的实现原理，并从理论上证明了实现巡检机器人的磁悬浮和．磁力驱动的可行性．

英文摘要：

An inspection robot based all new magnetic suspension technology for high-voltage DC transmis- sion line is proposed aiming at wheel-arm type inspection robots studied at present which have overweight, poor efficiency, slip of the moving wheel. This robot can be suspended above the transmission line and driv- en to move relying on the magnetic fields around the transmission lines. Thus the robot gets a simple mech anism and high efficiency, and the slip is eliminated thoroughly. According to the characteristics of magnet ic fields around the overhead high-voltage DC transmission lines,the structures of coils are designed to get magnetic suspension force and magnetic driving force; the overall structure of the robot is designed, too. The principle of magnetic suspension and magnetic drive is clarified; and the feasibility is proved theoreti- cally.