带电作业用非力反馈液压机械臂的设计  

Design of Non-Force Feedback Hydraulic Arm for Live Working

作　　者：赵玉良[1] 张奇 戚晖[1] 李健[1] 李运厂[1] 

机构地区：[1]山东电力集团公司电力科学研究院,济南250002 [2]深圳山东核电工程有限责任公司,济南250002

出　　处：《机械设计与制造》2012年第9期117-119,共3页Machinery Design & Manufacture

基　　金：山西长治10kV带电作业机器人实用化研究(JR2009-002)

摘　　要：为了适应10kV配电线路带电作业的要求,研制了一种能够最大限度的满足现场作业环境要求的非力反馈液压机械臂。液压机械臂是可以进行远程遥控的、主从式7自由度液压机械臂,包括机械臂本体、主手、手持终端、主手控制器、液压伺服驱动器和液压供油系统。采用位置伺服控制方式,主从手是同型结构,从手可以完全跟随主手来运动,机械臂操作灵活、简单方便、持重大、自重小、性能稳定可靠。并在10kV配电线路上进行了试验,证明了所设计的体系结构的合理性和可行性。In order to meet the requirements of live operation with lOkV distribution lines ,a non-force feedback master-slave hydraulic manipulator is developed to meet live operating environment requirements.The hydraulic monipulator is a master-slave hydraulic manipulator with 7 degrees of freedom that can be remote control,including the arm body,the main hand,hand-held terminal,the master controller, hydraulic servo drives and hydraulic oil systems.The position of servo-control mode is used,with the master-slave hand the same type of structure.The slave manipulator can completely follow the master hand movement.The manipulator is flexible, simple,with significant hold,small weight,and stable and reliable performance.The lOkV distribution lines testes the rationality and feasibility of the design of the architecture.

关 键 词：高压带电作业机器人 主从式机械臂 非力反馈 液压系统 

分 类 号：TH16[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]