JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2015, Vol. 45 ›› Issue (1): 45-53.doi: 10.6040/j.issn.1672-3961.0.2014.123

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Live-working robot for emergency repair of power distribution system

GAO Huanbing, TIAN Guohui   

  1. School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China
  • Received:2014-09-02 Revised:2014-10-15 Published:2014-09-02

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Abstract: A live-working robot was presented for the development of safe equipment for emergency rescue and recovery, and its mechanical architecture and control system were discussed. A system solution was proposed based on a hydraulic servo driving robot arm with 6 degrees of freedom, the structure and dynamics performance of which was optimized to maximize its payload capability by kinematics, dynamics and finite element analysis. The compliant control model of the robot arm was built by asymmetric control method against the vibration caused by the collision of the robot with wires. The dynamic positioning system with high precision under complex environment, a combination of static measurement by whole monocular vision and dynamic measurement by binocular eye-in-hand vision system, was developed, then the local automatic path planning and motion control for the robot arm was realized. The effectiveness and feasibility on distribution systems with at the voltage smaller than 10 kV were tested by experiments for the proposed robot.

Key words: robot, distribution system, binocular vision, live-working, object-oriented, hydraulic robot arm

CLC Number: 

  • TP24
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