工程科学学报2016，Vol.38Issue(6)：867-875,9.DOI:10.13374/j.issn2095-9389.2016.06.018
带电作业机器人机械臂动力学建模与运动规划
Manipulator dynamic modeling and motion planning for live working robot
摘要
Abstract
This article is focused on a double-arm and double-manipulator live working robot. The arm motion of the robot for insulator string replacement during the operation process was decomposed. The basic operation dynamic model was established by the Lagrange method combined with the armature voltage equation, the dynamic equations of manipulator 2 were calculated, the manipula-tor motion trajectory planning method was proposed based on five-polynomial interpolation, and the kinematics equations of manipulator 2 each joint were calculated. Robot manipulator dynamics and kinematics simulations were performed in ADAMS environment. The re-sults verify the correctness of the dynamic model, and the joint trajectory planning meets the kinematic requirements. Finally, insulator string replacement experiments of the robot were tested on actual line. The results show that each robot manipulator joint movement ob-tains a better dynamic performance, which validates that the proposed five-polynomial interpolation manipulator trajectory planning has strong practicability, and can further improve the robot operational efficiency and stability.关键词
机器人/机械手/动力学建模/运动规划Key words
robot/manipulator/dynamic modeling/motion planning分类
信息技术与安全科学引用本文复制引用
江维,吴功平,王伟,张颉..带电作业机器人机械臂动力学建模与运动规划[J].工程科学学报,2016,38(6):867-875,9.基金项目
中央高校基本业务费资助项目(2104005) （2104005）
国家电网湖南省电力公司科技资助项目(5216A01400B1) （5216A01400B1）
