Simulation of working space and trajectory planning of power line modular dual-arm live working robot
Transmission line live operation robot assist or even replace manual transmission line live inspection and operation.However,robot is bulky and inconvenient to transport in a complex field environment.Based on this problem,this paper designs and devel-ops a modular dual-arm live operation robot for multiple maintenance tasks of transmission lines.The modular design can realize the rapid disassembly and assembly of the robot and solve the transportation problem of the robot.The kinematics modeling of the robot arm is established for typical hardware maintenance tasks.Based on the model,the workspace simulation and trajectory planning simulation of the end actuator are carried out,and the results verify the feasibility and effectiveness of the design for the dual-arm live working robot system.
NETL
NSTL
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