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面向电力行业应急救援和安全抢修作业装备发展的需求,设计了一种配电系统带电抢修作业机器人,并对其机械结构与控制系统进行了介绍。提出一种基于液压伺服驱动的6自由度机械臂的系统解决方案,通过运动学、动力学和有限元分析优化了部件结构和动力学性能,使其有效负载能力达到最大。针对作业过程中机器人本体与导线发生碰撞等引起的震荡问题,使用非对称控制方法,建立了机械臂的柔顺控制模型,降低了震荡的影响。将整体单目视觉的静态测量与双目手眼视觉系统的动态测量相结合,设计了复杂环境下目标点的高精度动态定位系统,实现了机械臂的局部自主路径规划与运动控制。通过实验验证了所开发的带电抢修作业机器人在10kV以下配电线路应用的有效性和可行性。
In the light of the demand of emergency rescue and safety repairing and operation equipment in power industry, a robot with live repair and repair operation was designed and its mechanical structure and control system were introduced. A system solution of 6 DOF manipulator based on hydraulic servo drive was proposed. The structural and dynamic performance of the part was optimized by kinematics, dynamics and finite element analysis to maximize its payload capacity. In view of the problem of oscillation caused by the collision between the robot body and the wire during the operation, an asymmetric control method is used to establish a compliant control model of the manipulator to reduce the influence of the shock. Combining the static measurement of monoscopic vision with the dynamic measurement of binocular vision system, a highly accurate dynamic positioning system of target point under complex environment was designed. Local autonomic path planning and motion control of robotic arm were realized. The validity and feasibility of the application of distribution robots with charged robots under 10kV are verified by experiments.