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Aiming to solve the problems of safety, low efficiency and large volume of existing distribution network robots, a new distributed live working robot based on the master-slave control algorithm with weak stiffness and large lag is designed in this paper. The smaller robot body is used in the multi-level three-dimensional insulation isolation and shielding measures of the robot which realize the quick replacement of the working end such as the general mechanical, control and electrical interfaces. In the control system, ARM microprocessor is the signal processing terminal, displacement sensor and force sensor are the intermediary of signal measurement and closed-loop feedback respectively, which realizes the remote operation of the operator.

In order to avoid the motor damage caused by excessive temperature rise of armature winding of the walking motor during braking of high-voltage inspection robot in complexity microgrid networks, an unpowered downhill speed and energy recovery optimization control strategy is proposed based on temperature rise characteristics of the walking motor. Firstly, the thermal equivalent circuit model of the walking motor is established, and the mapping relationship between the armature winding temperature of the walking motor and ambient temperature is solved; secondly, the influence of armature winding temperature on unpowered downhill speed and energy recovery control strategy of robot is analyzed; thirdly, according to the temperature of front and rear wheel walking motors and the temperature difference between them, the optimal control strategy of unpowered downhill speed and energy recovery of robot is put forward; fourthly, by adjusting the duty ratio u of the energy consumption speed control system and the front wheel feedback brake distribution factor λ , the temperature difference between the front and rear wheel walking motors is reduced. Through the experimental analysis on the simulated line, it is verified that the unpowered downhill speed and energy recovery optimization control method based on the temperature rise characteristics of the walking motor can effectively reduce the temperature difference between the front and rear wheels.