输电线模块化双臂带电作业机器人作业空间与轨迹规划仿真  

Simulation of working space and trajectory planning of power line modular dual-arm live working robot

作　　者：邹德华 刘兰兰[1,2] 戴文涵 蒋智鹏[1,2] 江维 ZOU Dehua;LIU Lanlan;DAI Wenhan;JIANG Zhipeng;JIANG Wei(Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment(ROBOT)(State Grid Hunan Ultra-High Voltage Transmission Company),Changsha 420100,China;Live Inspection and Intelligent Operation Technology State Grid Corporation Laboratory(State Grid Hunan Ultra-High Voltage Transmission Company),Changsha 420100,China;School of Mechanical Engineering and Automation,Wuhan Textile University,Wuhan 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：《河南工程学院学报（自然科学版）》2024年第2期42-47,57,共7页Journal of Henan University of Engineering：Natural Science Edition

基　　金：湖南省电力有限公司科技项目(5216AJ21N005);智能带电作业技术及装备机器人湖南省重点实验室开放基金项目(2022KZD1003)。

摘　　要：输电线路带电作业机器人可以辅助甚至替代人工实现输电线路的带电巡视和作业,然而机器人体积庞大,在野外复杂作业环境下运输十分不便,因此针对输电线路多种检修作业任务设计了一种模块化双臂带电作业机器人。模块化设计可以实现机器人的快速拆装,解决机器人运输难题。针对典型金具检修作业任务,对机器人机械臂进行运动学建模,并基于该模型对机械臂末端进行作业空间与运动轨迹规划仿真,仿真结果验证了双臂带电作业机器人系统设计的可行性和有效性。Transmission line live operation robot assist or even replace manual transmission line live inspection and operation.However,robot is bulky and inconvenient to transport in a complex field environment.Based on this problem,this paper designs and develops a modular dual-arm live operation robot for multiple maintenance tasks of transmission lines.The modular design can realize the rapid disassembly and assembly of the robot and solve the transportation problem of the robot.The kinematics modeling of the robot arm is established for typical hardware maintenance tasks.Based on the model,the workspace simulation and trajectory planning simulation of the end actuator are carried out,and the results verify the feasibility and effectiveness of the design for the dual-arm live working robot system.

关 键 词：双臂机器人 模块化 运动学建模 作业空间 轨迹规划 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]