高压电器2017，Vol.53Issue(11)：92-98,7.DOI:10.13296/j.1001-1609.hva.2017.11.015
输电线路带电检修机器人双轴联动控制研究
Control of Biaxial Linkage of Live Working Robot for Transmission Lines
摘要
Abstract
To solve the problem that the efficiency of the live working robot is low for single-joint series-operation,a dynamic control method is proposed for the joint space of the live working robot for transmission line.First,the Newton-Euler method is employed to establish the dynamic equations of whole robot in order to provide the basis for establishing the dynamic equation of arbitrary biaxial linkage.Second,the robot joints with biaxial linkage are analyzed and determined,and the dynamic equations of a set of commonly used biaxial joints are given.Third,a PD control method with gravity model is designed.Simulation and experiment show that the present biaxial linkage method is feasible,and it can improve working efficiency of the robot.关键词
输电线路/带电检修/机器人/双轴联动Key words
transmission line/live line maintenance/robot/biaxial linkage引用本文复制引用
严宇,刘夏清,邹德华,李稳,章健军,龙洋,徐显金,吴功平..输电线路带电检修机器人双轴联动控制研究[J].高压电器,2017,53(11):92-98,7.基金项目
国家自然科学基金资金助项目(61375092).Project Supported by National Natural Science Foundation of China(61375092). （61375092）
