双分裂高压输电线路四轮移动检修机器人虚拟样机设计与仿真  

Design and Simulation of Virtual Prototype for Double-Split High Voltage Transmission Line Four-Wheel Mobile Maintenance Robot

作　　者：顾苏 邹德华 邝江华[1,2] 刘兰兰 江维 GU Su;ZOU Dehua;KUANG Jianghua;LIU Lanlan;JIANG Wei(Intelligent Live Operation Technology and Equipment(Robot)Hunan Provincial Key Laboratory(State Grid Hunan Ultra-High Voltage Transmission Company),Hengyang Hunan 420100,China;Live Inspection and Intelligent Operation Technology State Grid Corporation Laboratory(State Grid Hunan Ultra-High Voltage Transmission Company),Hengyang Hunan 420100,China;School of Mechanical Engineering and Automation,Wuhan Textile University,Wuhan Hubei 430073,China)

机构地区：[1]智能带电作业技术及装备(机器人)湖南省重点实验室(国网湖南省电力有限公司超高压输电公司),湖南衡阳420100 [2]带电巡检与智能作业技术国家电网公司实验室(国网湖南省电力有限公司超高压输电公司),湖南衡阳420100 [3]武汉纺织大学机械工程与自动化学院,湖北武汉430073

出　　处：《机床与液压》2022年第11期60-66,共7页Machine Tool & Hydraulics

基　　金：智能带电作业技术及装备(机器人)湖南省重点实验室开放课题资助项目(2021KZD2001)。

摘　　要：针对目前人工带电更换间隔棒检修作业过程中存在效率低、劳动强度大、人身安全得不到保障等问题,设计一种适用于双分裂输电线路间隔棒带电检修的四轮移动机器人。通过分析作业环境及作业对象,设计双臂各带机械手的机器人结构并确定最优的自由度;分析作业过程中的关键技术,提出旧间隔棒拆卸与新间隔棒安装的机器人作业运动规划;在INVENTOR环境下开发机器人虚拟样机三维模型,对作业过程中作业臂的关键状态进行运动学建模;在MATLAB环境下对机器人作业臂进行运动学仿真。结果表明:所设计的双分裂输电线路移动作业机器人虚拟样机能够满足带电检修作业需求,可为机器人物理样机开发提供参考。Aiming at the problems of low efficiency,high labor intensity and inadequate personal safety in the maintenance process of live manual replacement of spacer rods,a four-wheel mobile live maintenance robot suitable for double-split transmission line spacer rod replacement was designed.Based on the analysis of the working environment and operation objects,the robot structure with a manipulator on each arm was designed and the optimal degrees of freedom was obtained;the key technology in the operation process was analyzed,and the robot operation motion planning for the old spacer rod disassembly and the new spacer rod installation was proposed;the 3D model of the robot virtual prototype was developed by using INVENTOR,and the kinematics model of the key state of the manipulator during operation was established;the kinematics simulation of the robot arm was carried out by using MATLAB.The results show that the designed robot virtual prototype meets the needs of live maintenance operation,and it can provide reference for the development of robot physical prototype.

关 键 词：四轮移动检修机器人 虚拟样机 运动规划 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]