| Electricity supply as the maintenance of social production and people’s lives basic security is an important pillar of the national economy.However, with the continuous improvement of the national economy and people’s living standards, grid systems become more and more complex and vulnerable, which increases the difficulty of electricity supply. In order to solve the above problems, automation and intelligence has gradually become the main development direction of modern electricity supply.Robotics is an important branch of the intelligent technology, which has been growing concern in the application of the power system. Limitation of artificial live operations have become increasingly, especially with the gradual increase in the power supply load. Robotics technology which been used instead of manual operation in the live environment has become an important branch of power supply intelligence research.Live working robot research is to complete the maintenance and repair work on the grid, instead of people working in the continuous power supply environment. Topic is based on the study of the distribution network of special robots, the study is part of the live working robot project. The robot includes a mobile platform, lifting platform and manipulator. Robot is controlled by remote sensing, with visual feedback and force feedback system. Simulation analysis and dynamic characteristics analysis of the mechanical structure of the robot’s is the study of the content of the paper.Three-dimensional model of the robot has been set up, through analysis of the structure and stiffness theory. Kinematics and dynamic characteristics simulation analysis is completed using three-dimensional model instead of the physical and virtual prototype technology. The paper completed solving forward-kinematics and inverse kinematics of the robot arm, the solution accuracy of the results has been verified by simulation. Kinematics model parameters may be provided to control the following control programming.For the study of the dynamic characteristics of the robot, the paper is mainly based on modal analysis approach. Modal parameters of the robot have been obtained by finite element analysis program. Reference kinematics analysis, dynamic characteristics analysis of six degrees of freedom manipulator is research and analysis. First, the structural optimization manipulator is simple to complete. Secondly, freedom manipulator modal analysis and modal analysis has also been completed and force got vibration mode shapes and frequencies. Finally, the robotic arm static analysis is completed, the rationality of the robot arm structure is also verification.Dynamic characteristics of the process of robotic systems to be analyzed with the same process performed in front of about manipulator. Considering the weight of the mobile platform and hierarchical control model, the mobile platform has been neglected in the dynamic characteristics of the overall analysis of the robot. The robot Tops dynamic characteristic analysis was only performed. Static structural analysis, modal analysis and freedom modal analysis was eventually completed. Vibration control of the robot is to provide support through the analysis of the results. Based on the results of the modal analysis, harmonic response analysis of the robotics tops was conducted. Harmonic frequency response analysis is provided by the modal frequency, the frequency of the equivalent stress at the junction of the lifting platform is studied. Based on results of the front analysis, the overall stress has been simulated. Dynamic characteristics of the entire robot is further testing, structure-optimization and systems-control studying of the robot have been provided support.Finally, three-dimensional solid model and working environment mode has been established. By combining these models into virtual reality software, virtual reality environment has been built up. Synchronized control and simulation of the robot in the virtual environment have been provided support. |
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