Control System Design of Four Arms Mobile Working Robot for Terminal Reconfigurable of High Voltage Transmission Line

LIU Xiaqing; JIANG Wei; WU Gongping; YAN Yu; ZOU Dehua

doi:10.13296/j.1001-1609.hva.2017.05.010

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Control System Design of Four Arms Mobile Working Robot for Terminal Reconfigurable of High Voltage Transmission Line

更新时间：2025-04-26

- Control System Design of Four Arms Mobile Working Robot for Terminal Reconfigurable of High Voltage Transmission Line
- High VoltageApparatus Vol. 53, Issue 5, Pages: 63-69(2017)
- 作者机构：
  
  1. 国网湖南省电力公司带电作业中心
  2. 武汉大学动力与机械学院
- 作者简介：
- 基金信息：
- DOI：10.13296/j.1001-1609.hva.2017.05.010
  CLC： TM75;TP242
- Published：2017
- 稿件说明：
移动端阅览
[1]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(05):63-69.

LIU Xiaqing, JIANG Wei, WU Gongping, et al. Control System Design of Four Arms Mobile Working Robot for Terminal Reconfigurable of High Voltage Transmission Line[J]. High voltageapparatus, 2017, 53(5): 63-69.
[1]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(05):63-69. DOI： 10.13296/j.1001-1609.hva.2017.05.010.

LIU Xiaqing, JIANG Wei, WU Gongping, et al. Control System Design of Four Arms Mobile Working Robot for Terminal Reconfigurable of High Voltage Transmission Line[J]. High voltageapparatus, 2017, 53(5): 63-69. DOI： 10.13296/j.1001-1609.hva.2017.05.010.

摘要

针对完全依靠人工带电更换高压输电线路悬垂绝缘子串和拧紧耐张跳线引流板螺栓两种作业效率低、劳动强度大、高空、高压危险的不足设计了一种末端可重构四臂移动作业机器人构型。提出了机器人末端机械系统、电气系统、软件系统的重构原理和方法

给出了机器人硬件系统和软件系统的设计思路

最后在实际线路上进行带电作业试验

结果验证了文中所设计的四臂移动作业机器人控制系统具有较强抗电磁干扰能力

机器人顺利实现了两种作业功能

进一步提高了作业效率和安全性。

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.

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