CAJ | 학술논문

面向电力行业应急救援和安全抢修作业装备发展的需求，设计了一种配电系统带电抢修作业机器人，并对其机械结构与控制系统进行了介绍。提出一种基于液压伺服驱动的6自由度机械臂的系统解决方案，通过运动学、动力学和有限元分析优化了部件结构和动力学性能，使其有效负载能力达到最大。针对作业过程中机器人本体与导线发生碰撞等引起的震荡问题，使用非对称控制方法，建立了机械臂的柔顺控制模型，降低了震荡的影响。将整体单目视觉的静态测量与双目手眼视觉系统的动态测量相结合，设计了复杂环境下目标点的高精度动态定位系统，实现了机械臂的局部自主路径规划与运动控制。通过实验验证了所开发的带电抢修作业机器人在10 kV以下配电线路应用的有效性和可行性。
면향전역행업응급구원화안전창수작업장비발전적수구，설계료일충배전계통대전창수작업궤기인，병대기궤계결구여공제계통진행료개소。제출일충기우액압사복구동적6자유도궤계비적계통해결방안，통과운동학、동역학화유한원분석우화료부건결구화동역학성능，사기유효부재능력체도최대。침대작업과정중궤기인본체여도선발생팽당등인기적진탕문제，사용비대칭공제방법，건립료궤계비적유순공제모형，강저료진탕적영향。장정체단목시각적정태측량여쌍목수안시각계통적동태측량상결합，설계료복잡배경하목표점적고정도동태정위계통，실현료궤계비적국부자주로경규화여운동공제。통과실험험증료소개발적대전창수작업궤기인재10 kV이하배전선로응용적유효성화가행성。
A live-working robot was presented for the development of safe equipment for emergency rescue and recovery,and its mechanical architecture and control system were discussed.A system solution was proposed based on a hydraulic servo driving robot arm with 6 degrees of freedom,the structure and dynamics performance of which was optimized to maximize its payload capability by kinematics,dynamics and finite element analysis.The compliant con-trol model of the robot arm was built by asymmetric control method against the vibration caused by the collision of the robot with wires.The dynamic positioning system with high precision under complex environment,a combination of static measurement by whole monocular vision and dynamic measurement by binocular eye-in-hand vision system,was developed,then the local automatic path planning and motion control for the robot arm was realized.The effectiveness and feasibility on distribution systems with at the voltage smaller than 10 kV were tested by experiments for the proposed robot.