Abstract: Design a robot that can remove debris for high voltage transmission lines,and its main body includes mechanical mechanism and controller system.According to the high pressure transmission line to clear the debris operation needs,designed to remove the debris robot mechanical mechanism.As the removal mechanism of mechanical freedom is high,the overall weight,to the robot obstacle difficult.The design of the cleaning mechanism is adopted to optimize the design of the removal mechanism to reduce the number of motor drives and to reduce the overall weight of the robot.It provides a method to alleviate the difficulties of the robot.According to the requirements of debris control,the software and hardware of the robot control system are designed,and the robot removal mechanism is tested with S3C6410 single chip microcomputer.The result is in accordance with the design requirements.

Key words: high voltage transmission, clearing institutions, robot, optimization design, underactuated design, control system, SCM