| With the development of social economy and technology, level of production automation increasing enhancement, the status of the robot is more and more important in the modern production and living, especially in some industries of the dangerous working environments and the high degree of work intensity. Live working is a special engineering technology, which examine and repair the line, replace parts or test on high voltage electrical equipment. In china, there are always using artificial live working because of the limit of technology. The artificial live working can service and test on the line, according to the operator’s experience, the artificial live working can service test find the fault point accurately and resolve quickly to the line. But due to the working object which is high-voltage overhead line of less than or equal1Okv, the artificial live working means that the operator exposures to the environment with high-altitude, high pressure and strong electromagnetic field. The intensity of labor is very big and it’s difficult to control the body posture. In spite of strictly abiding by the safety operation specification and increasing the insulation protection measures, it does not relieve the worker’s mental stress and tired. It will happen the personnel injury and death if don’t take care of very carefully. It must be a great deal of pain to his family, and brought serious losses to the society. In order to avoid the tragedy, makes the live working more secure and improve operating efficiency, taking use of the robots instead of manual operation is imminent, and it also fit the requirements of the times.The robot system can be basically classified into these components:mechanical structure (mobile and lift platform, master hand, manipulator), motion control system, visual servo control system, special tools, insulation guards and so on. Mobile and lifting platform makes the manipulator to reach the designated working area and the height. The slave-hand can complete the corresponding action real-time, accurately by controlling the master hand; motion control system control the manipulator’s end position and posture. At the same time, the current information of the manipulator is feed back to master control system; special tools help the robot to complete the task perfect. Insulation guards ensure the security of the operators. The high-voltage live-line working robot can not only extricate the staff from the dangerous, heavy, intense work, but also can bring huge economic and social benefits, and it is the inevitable trend to replace artificial engaged in live-line working.Therefore, the2012national "The11th Five-Year" plan for hi-tech development planning in the advanced manufacturing technology "public safety and rescue robot" field has planed to research the project "The research development and application for electric live repair working robots"Based on the results have been made in the live-working and robot area, this paper made a comprehensive study and practice on some theoretical and practical problems. The main works are as follows:The first, based on investigating and analysis of live-line working maintenance requirement in our country and some foreign robot systems for live-working, comprehensively expounded the principle of operation and technical characteristics, introduced the robot developments at home and abroad in detail, and force feedback technology used in the field of live working in a creative way.The second, I finished the kinematics modeling and dynamics modeling of the manipulator system, D-H model is established through the establishment of coordinate system and coordinate transformation, verified by simulation using MATLAB software, and deeply studied the problem of kinematics’ positive and inverse kinematics. The robot dynamics analysis used the Jacobian matrix, described the basic step to establish the dynamics model with Lagrange method in detail, and derived the dynamic equations of the system.The third, based on Trio motion controller, this paper completed the design of live working robot motion control system design, and controlled the movement of each joint through the Trio control the servo valve. Trio combined of motion control and logic algorithms, realized such as lines, arcs interpolation algorithm easily. The complex program is divided into several subtasks, which are performed simultaneously, so that the control process becomes simple and clear.Finally, this paper realizes the bidirectional control between the master and slave manipulator. The first is the front position feedback loop which is from master to slave hand, and makes manipulator moved following the master hand. The second is the latter force feedback loop which is from slave to master hand, and allows the operator to obtain the real force telepresence. Then it analyzes the main hand control signal collection and signal output circuit, and the realization method of the human-computer interaction, and puts forward reasonable suggestions for the next step work. |
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