柔性输电线-带电作业机器人刚柔耦合特性分析  

Analysis on Rigid-Flexible Coupling Characteristics of Flexible Transmission Line-Live Working Robot

作　　者：李化旭 邹德华 刘兰兰[1,2] 邝江华 江维[3] LI Huaxu;ZOU Dehua;LIU Lanlan;KUANG Jianghua;JIANG Wei(Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment(Robot)(State Grid Hunan Ultra-High Voltage Transmission Company),Changsha Hunan 420100,China;Live Inspection and Intelligent Operation Technology State Grid Corporation Laboratory(State Grid Hunan Ultra-High Voltage Transmission Company),Changsha 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),湖南长沙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),湖南长沙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》2023年第9期29-33,61,共6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(2022KZD1003)。

摘　　要：输电线路带电作业机器人通过双轮行驶于高压电缆,刚性的机器人系统和柔性的输电线路之间构成了复杂的刚柔耦合系统,特别是在刚性系统和柔性系统的轮线接触处表现出较强的非线性复杂耦合特性。为保障机器人作业过程的稳定性,获取较好的作业动态性能,分别建立了柔性导线、刚性机器人以及柔性导线-刚性机器人的耦合动力学模型。基于该模型,在ADAMS中分几种不同典型工况对带电作业机器人线上作业行为的动力学特性进行了仿真研究。通过仿真特性曲线一方面验证了刚柔耦合动力学模型的有效性,另一方面通过仿真模型得到了合适的机器人动力学参数,从而实现机器人作业优化与控制。最后在带电线路进行现场引流板紧固作业试验,结果也验证了所提出的刚柔耦合动力学模型的工程实用性。The power transmission line live working robot travels on the high-voltage cable through two wheels.A complex rigid-flexible coupling system is formed between the rigid robot system and the flexible transmission line,especially at the wheel-line contact of the rigid system and the flexible system.In order to ensure the stability of the robot's operation process and obtain better dynamic performance,flexible wire,rigid robot and flexible wire-rigid robot coupling dynamics models were established.Based on the model,the dynamic characteristics of the online operation behavior of the live working robot were simulated under several different typical working conditions in ADAMS.Through the simulation characteristic curves,the validity of the rigid-flexible coupling dynamic model is verified on one hand,appropriate robot dynamics parameters can be obtained to optimize and control the robot operation on the other hand.Finally,the on-site drainage plate fastening operation test was carried out on the live line.The results also verify the engineering practicability of the proposed rigid-flexible coupling dynamics model.

关 键 词：柔性输电线 刚性机器人 刚柔耦合 动态特性 仿真研究 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]