配电网带电作业机器人末端执行机构设计与作业避障规划研究
Design of live working robot's end actuator and obstacle-avoidance task planning in distribution network
吴健 1王建锋 2诸申翔 1梁程诚1
作者信息
- 1. 浙江泰仑电力集团有限责任公司配电工程分公司,浙江湖州 313000
- 2. 国网湖州供电公司南太湖新区供电分公司,浙江湖州 313000
- 折叠
摘要
针对目前配电网带电作业机器人的功能多样化程度和作业场景覆盖面亟待提升的需求,聚焦10 kV带电搭接引流线作业点绝缘保护壳安装的工程作业场景,设计了对应末端执行机构的结构,给出了带电作业机器人的总体设计方案和作业流程,在对作业机器人进行运动学建模与分析的基础上,提出了基于多域采样平衡调度RRT*算法的避障作业规划方法,实现对配电网复杂带电作业环境中机器人各关节运动路径轨迹的求解.通过仿真分析和现场带电安装作业试验,验证了所提出方案和方法的可行性和有效性.
Abstract
Currently,it is urgent to enhance the functionality and expand the coverage of live working robots in the distribu-tion network.This article focuses on the engineering scenario of installing the insulation protective shells at the 10 kV live junction points for overhead lines.The end actuator's functional structure is designed;then,both the overall scheme and the operational process are worked out,which are specically used for live working robot.After conducting the kinematic modeling and analysis on the robotic arm,efforts are made to propose a method of obstacle-avoidance task planning,which is based on the multi-domain sampling and balanced scheduling RRT*algorithm,so as to optimize the motion trajectory of the robotic arm's each joint in a complex live working environment of the distribution network.Through some simulation and on-site live operation tests,it is veri-fied that this scheme is feasible and this method is effective.
关键词
带电作业机器人/绝缘保护壳安装/执行机构结构设计/运动避障规划Key words
live working robot/installation of insulation protective shell/structural design of actuator/obstacle-avoidance motion planning引用本文复制引用
出版年
2024
NETL
NSTL
万方数据