高压输电线路树枝修剪机器人的运动仿真研究  

Motion Simulation of Branch Trimming Robot for High-voltage Transmission Lines

作　　者：张黎 仇国滔 王裴培 曾宪武 田地 ZHANG Li;CHOU Guo-tao;WANG Pei-pei;ZENG Xian-wu;TIAN Di(Guizhou Power Grid Co.,Ltd.Zunyi Power Supply bureau,Guizhou Zunyi 563000)

机构地区：[1]贵州电网有限责任公司遵义供电局

出　　处：《通讯世界》2019年第10期204-207,共4页Telecom World

基　　金：贵州电网科技研发计划(060300KK52170012)

摘　　要：针对为解决高压输电线路走廊树枝修剪作业而设计的树枝修剪机器人进行运动仿真研究,为了验证机器人的运动性能,在MATLAB里建立其仿真模型,调用Robotics Toolbox相关函数对机器人进行运动学仿真计算,求解得到了机器人的末端修剪工具的工作空间,验证了模型的正确性。另外,对机器人进行PTP轨迹规划仿真分析,分析结果表明机器人各关节运动平稳无冲击,运动性能良好。最后,利用运动仿真分析指导试验样机在现场线路进行树枝修剪试验,试验表明该样机运动性能良好,能够满足对输电线路树枝的修剪作业。Aiming at the problem that the distance between the corridor branches of the high-voltage transmission line and the lower phase conductor may lead to the short-circuit tripping of the line,a branch trimming robot walking along the wire is proposed. In order to verify the motion performance of the robot,the simulation model was built in MATLAB,and the Robotics Toolbox related function was called to simulate the kinematics of the robot. The workspace of the end trimming tool of the robot was obtained,and the correctness of the model was verified. In addition,the PTP trajectory planning simulation analysis of the robot is carried out. The analysis results show that the joint movements of the robot are stable without impact and the motion performance is good. Finally,using the motion simulation analysis to guide the test sample machine to carry out the branch trimming test on the field line. The test shows that the prototype has good motion performance and can meet the trimming operation of the transmission line branches.

关 键 词：高压输电线路 树枝修剪机器人 ROBOTICS TOOLBOX 运动学 

分 类 号：TH122[机械工程—机械设计及理论]