Design and Research of Isomorphic Master Hand Based on Force Feedback
Inspection robots have gradually replaced manual inspection operations in electrical substations.However,existing robots have problems such as low remote operation efficiency and inability to achieve anthropomorphic operation well,which makes it difficult to complete contact operation tasks such as emergency stop and switch operation in substation inspection.Therefore,it is urgent to develop collaborative robots with high adaptability to substation inspection.Aiming at the application requirements of substation inspection and handling,this paper carries out research on the teleoperation technology of inspection robot based on master-slave force feedback,and designs a series isomorphic master hand with direct master-slave mapping relation and complete bidirectional control of force feedback,which realizes the master-slave force feedback of the 6-DOF robot arm and is convenient for fine operation.Research on the master-slave force feedback technology is carried out,load and friction compensation are realized by constructing and simplifying the dynamic model,and the bidirectional control strategy of direct force feedback is adopted.The prototype is developed and the functional verification and accuracy testing experiments are carried out.The results show that the main hand can complete the basic task of inspection operation well,the force feedback error is less than 7％,and the tracking accuracy of the end of the robot arm is better than 2mm,which verifies the effectiveness of the mechanical structure and control system.
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