高压线路绝缘子带电更换作业机器人构型与轨迹规划  

Configuration and trajectory planning of insulator charged replacement operation robot for high-voltage transmission line

作　　者：于娜[1] 吴功平[1] 江维[1] 肖华[1] 严宇[2] 邹德华[2] 张颉[1] 胡鹏[1] YU Na;WU Gongping;JIANG Wei;Xiao Hua;YAN Yu;ZOU Dehua;ZHANG Jie;HU Peng(School of Power and Mechanical Engineering,Wuhan University,Wuhan 430072,China;Hot-line Work Management Center of Hunan Electric Power Corporation,Changsha 410007,China)

机构地区：[1]武汉大学动力与机械学院,湖北武汉430072 [2]湖南省电力公司带电作业管理中心,湖南长沙410007

出　　处：《武汉大学学报（工学版）》2018年第7期640-645,653,共7页Engineering Journal of Wuhan University

摘　　要：提出了机器人等电位、人工地电位的绝缘子带电更换作业新方法.研究提出了一种四臂移动作业的绝缘子更换机器人构型,即移动机器人的双臂、一个绝缘子碗头挂板定位与W销推进/推出的机械手、一个绝缘钢帽夹持及其绝缘子分离与结合的机械手;研究了作业机器人的运动规划与机械手的轨迹规划;研制了机器人样机.通过在实际线路上的带电作业试验,验证了该构型方案的正确性和有效性.This paper presents a new method to replace the insulator in the live environmnet with robot equipotential and worker ground potential.And it presents a insulator replacement robot configuration with four manipulator arms moving during the work;including two manipulator arms to move robot;a manipulator arm to locate socket-clevis and push/push out W-shaped pin;and a manipulator arm to clampe the insulator steel cap and separate/combine the insulator.It also studies motion planning of robot and trajectory planning of manipulator arms and develops robot prototype.Live working test on the actual line proves the correctness and the validity of configuration program.

关 键 词：高压线路 绝缘子带电更换 多臂机器人 构型 轨迹规划 

分 类 号：TH113.2[机械工程—机械设计及理论]