Research About Force Sensing Telepresence System Of Hot-Line Working Robot

With the development of economy and the enhance of life quality, the demand of power system is higher and higher, so do the first load and the second load. If the power grid gets out of order in somewhere and cuts power to troubleshoot in the whole region, it would bring huge economic losses to the user. So, the hot-line work has been an important method to achieve uninterrupted supply of power system. As we know, hot-line work has two ways, artificial hot-line work and non-artificial hot-line work. The former is according to the experience of person to find the fault point accurately and solve timely. However, working on the10KV line is very dangerous. If someone do not pay attention slightly, it may cause death. So, the develop of hot-line working robot that is security and adaptability to overcome the limitation of artificial hot-line work is needed., which meets the requirements of The Times.With the technology of master-slave tele-operation used in hot-line working robot, many emerging technologies is blended among them, including the force sensing telepresence. In the system of hot-line working robot with force sensing telepresence, the operator can feel the interaction between people and slave hand and the interaction between slave hand and working environment. The significance of the former is that through the pass of perception from tele-operation robot working in the uncertain environment to the operator, the operator can make complex decisions relatively to control the tele-operation robot more accurately. In addition, the operator can control whole system in security area instead of inconvenience or bad, such as deep sea, space and battlefield. If the technology of force sensing telepresence can be applied to hot-line working robot system, the operator can know the fault line real-time and make effective strategies to control the slave hand timely according to the actual situation, which can complete the hot-line work better.Therefore, the plan of "The11th Five-Year" of national develops for hi-tech development in the advanced manufacturing technology "public safety and rescue robot" field to research the project "The research development and application for electric live repair working robots" is made in2012.Based on the urgent demand of electric power system to research a hot-line working robot to apply for the distribution network is need. The main work is as follows:The first, analyze the system of hot-line working robot and apply the technology of force sensing telepresence to the system. Expound the development situation, working process and the technical characteristics of the whole system at home and abroad..The second, introduce the entire system of hot-line working robot in detail, from the aspects of mechanical, hydraulic, control and communications.The third, complete the kinematic modeling and dynamic modeling of slave hand. Resume its D-H model, study the positive and inverse solution deeply. Adopt Lagrange method to establish the dynamic model to deduce the dynamic equation of system, and calculate the Jacobian matrix and force Jacobian matrix. In addition, use the software of ADAMS to analyze problems of dynamics.Finally, complete the system of force sensing telepresence. Take TMS320F2812as the processor and design the servo amplifier circuit, voltage regulator module, analog-to-digital conversion circuit, etc. Other more, study the two-way servo control algorithm and put forward a kind of bidirectional servo control based on fuzzy PID algorithm. After simulation, the results show that this is a valuable algorithm.