高压电器2017，Vol.53Issue(5)：63-69,7.DOI:10.13296/j.1001-1609.hva.2017.05.010
高压线路末端可重构四臂移动作业机器人控制系统设计
Control System Design of Four Arms Mobile Working Robot for Terminal Reconfigurable of High Voltage Transmission Line
摘要
Abstract
In order to solve the problems of low operating efficiency,high labor intensity,high altitude and high risk caused by two tasks of artificial operation such as:replacing the high voltage transmission line hanging insulator string and tightening clamp drainage board bolts,this paper designs a kind of four arms mobile working robot for terminal reconfigurable.The robot terminal mechanical systems,electrical systems,and the reconfigurable principles of software systems are proposed,the robot hardware and software systems design ideas are given out.Finally the robot charged tested on the actual line,the results verify the designed four arms mobile working robot control system with a strong capability of anti-electromagnetic interference,and robot realize the two kinds working function successfully,and further improve the operational efficiency and safety.关键词
高压输电线路/移动作业机器人/末端重构/绝缘子更换/螺栓紧固Key words
high voltage transmission line/mobile working robot/terminal reconfigurable/insulator replacement/bolt tighten引用本文复制引用
刘夏清,江维,吴功平,严宇,邹德华..高压线路末端可重构四臂移动作业机器人控制系统设计[J].高压电器,2017,53(5):63-69,7.基金项目
国家自然科学基金资助项目(51105281) （51105281）
中央高校基本科研业务费专项资金资助(2104005).Project Supported by National Natural Science Foundation of China(51105281),Special Fund of the Central Universities People's Republic of China(2104005). （2104005）
