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-  2018 

高压线路绝缘子带电更换作业机器人构型与轨迹规划 Configuration and trajectory planning of insulator charged replacement operation robot for high-voltage transmission line

Keywords: 高压线路,绝缘子带电更换,多臂机器人,构型,轨迹规划

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Abstract:

提出了机器人等电位、人工地电位的绝缘子带电更换作业新方法.研究提出了一种四臂移动作业的绝缘子更换机器人构型,即移动机器人的双臂、一个绝缘子碗头挂板定位与W销推进/推出的机械手、一个绝缘钢帽夹持及其绝缘子分离与结合的机械手;研究了作业机器人的运动规划与机械手的轨迹规划;研制了机器人样机.通过在实际线路上的带电作业试验,验证了该构型方案的正确性和有效性

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