Control of Biaxial Linkage of Live Working Robot for Transmission Lines

YAN Yu; LIU Xiaqing; ZOU Dehua; LI Wen; ZHANG Jianjun; LONG Yang; XU Xianjin; WU Gongping

doi:10.13296/j.1001-1609.hva.2017.11.015

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Control of Biaxial Linkage of Live Working Robot for Transmission Lines

更新时间：2025-04-26

- Control of Biaxial Linkage of Live Working Robot for Transmission Lines
- High VoltageApparatus Vol. 53, Issue 11, Pages: 92-98(2017)
- 作者机构：
  
  1. 国网湖南省电力公司带电作业中心
  2. 智能带电作业技术及装备(机器人)湖南省重点实验室
  3. 湖北工业大学机械工程学院
  4. 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.2017.11.015
  CLC： TM75;TP242
- Published：2017
- 稿件说明：
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[1]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.

YAN Yu, LIU Xiaqing, ZOU Dehua, et al. Control of Biaxial Linkage of Live Working Robot for Transmission Lines[J]. High voltageapparatus, 2017, 53(11): 92-98.
[1]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. DOI： 10.13296/j.1001-1609.hva.2017.11.015.

YAN Yu, LIU Xiaqing, ZOU Dehua, et al. Control of Biaxial Linkage of Live Working Robot for Transmission Lines[J]. High voltageapparatus, 2017, 53(11): 92-98. DOI： 10.13296/j.1001-1609.hva.2017.11.015.

摘要

为了解决单关节串联式作业带来的带电检修机器人作业效率低下的问题

提出一种面向输电线路带电检修机器人关节空间的双轴联动的动力学控制方法。首先利用牛顿—欧拉方法建立了机器人越障时的整体动力学方程

为建立任意双轴联动动力学方程提供了依据;分析并确定了机器人可以进行双轴联动的关节

给出了一组常用的双轴联动关节的动力学方程;设计了一种带重力模型的PD控制方法。仿真与实验结果表明:双轴联动方法可行

并提高了机器人的作业效率。

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.

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Related Author

LI Wen

ZOU Dehua

LIU Xiaqing

LI You

YAN Yu

LIU Lanlan

LONG Yang

YANG Jiuyong

Related Institution

Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment(Robot)

State Grid Hunan Electric Power Company Live Working Center

State Grid Hunan Electric Power Company

Information & Telecommunication Branch Company, East Inner Mongolia Electric Power Co., Ltd.

Key Laboratory of Universal Wireless Communications, Ministry of Education, Beijing University of Posts and Telecommunications

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