| Live working is a special engineering technology, which can examine and repair the line, replace parts on high voltage electrical equipment that is no power outages. In China, there are always using artificial live working. Due to the live working object that is high-voltage overhead line of less than10KV, the artificial live working means that the operator takes a long time in the high altitude, high voltage, strong electromagnetic field environment. It will easily happen the personnel injury and death. In order to make the live working more secure and improve operating efficiency, taking use of the robots instead of manual operation is imminent.The hot-line working robot includes:motion control system, special tools, mechanical structure, visual servo control system, insulation guards and so on. Wherein the mechanical structure is dominated by mobile and lift platform and operation manipulator. Mobile and lift platform makes the manipulator to reach the designated working area and the height. The slave-hand of operation manipulator can complete the corresponding action real-time, accurately by controlling the master hand of operation manipulator. The special tools which is clamped by the slave manipulator gripper can help the robot to complete the task perfectly.The operation manipulator that is the implementing agency of hot-line working robot directly affects the efficiency and quality of high live working. The environment of high live working is unstructured and high. So the operation manipulator needs to satisfy the requirements live working environment.In this paper, the operation manipulator was designed according to the characteristics of live working. The operation manipulator was analyzed and optimized by CAE technology. The main works are as follows:The first, the total design of operation manipulator was put forward according to the requirements of hot-line working robot and the characteristics of the same type of hot-line working manipulator at home and abroad. The total design includes:the driver of slave manipulator was hydraulic drive, the operation mode of master-slave manipulator was teleoperation, the configuration of master manipulator was isomorphic to slave manipulator, the type of sensor was selected. The second, the operation manipulator was detail designed based on the total design scheme. The structural configuration and parameters of each link of slave manipulator were determined based on the characters of live working. And the hydraulic system and mechanical structure of slave manipulator were designed. The master manipulator was designed according to the principle of ergonomics and ideological of isomorphic with slave manipulator.The third, the kinematics of operation manipulator was analyzed through D-H method. The D-H modal of slave manipulator was established through the establishment of coordinate system and coordinate transformation. The positive kinematics and inverse kinematics were deeply studied and verified by simulation using MATLAB software. The Jacobian matrix of master manipulator was established. The reasonableness of the selected torque motor was verified through the Jacobian matrix.Finally, the structural of master-slave manipulator was analyzed and optimized by ANSYS Workbench software. The conclusion that is the stiffness values of master hand in each direction meet the job requirements was obtained through the static analysis. The first six modal frequencies and mode shapes of master hand were obtained, provide reliable data to avoid the resonance of master hand. The salve hand structural static analysis and modal analysis were completed by ANSYS Workbench, and on this basis, the big arm and forearm were shape optimized. The performance of salve hand was little change but the mass was significantly lower through the shape optimization. |
PDF Full Text Request