Research On Key Technology Of Two-arm Robot Replacing Drop Fuse

The live operation in the electric power industry has been the focus of high attention because of its high safety risk and high labor intensity.Using intelligent equipment represented by dual-arm robot to replace manual operation is safe,efficient,labor-saving,and can ensure the quality of operation.It is an important development direction of electric power operation and maintenance technology progress and has great scientific research and engineering application value.The power operation and maintenance environment is complex,and a slight error during live operation may lead to a short circuit and personal injury.The disassembly and installation of power components not only need accurate positioning,but also need proper force position,which puts forward high requirements for motion planning,space positioning and force position control of dual-arm robot.Arms in order to make the robots could be more flexible,accurate and stable electricity work,the paper combined with the actual demand line maintenance robot research topic,starting from the dynamic model building and analysis of dual-arm robot,respectively from the motion planning,smooth control,operation process,three aspects of research and design,to complete the work mainly includes:(1)The research background and application objectives are introduced,and the status quo and key technologies of dual-arm robot live operation are summarized;The requirements of the live operation of the robot system are analyzed,and the overall design scheme of the double arm robot live operation system is proposed.Aiming at the operation target of drop fuse replacement,a system operation scheme combining multi-dimensional perception was designed with visual recognition and motion planning as the key technologies.(2)Based on single-arm kinematics,the kinematics modeling method of dual-arm master-slave mode and dual-arm cooperative mode is studied,and the monte-Carlo method is used to analyze and calculate the dual-arm cooperative space.For trajectory planning problem,the design point to point and two cases through multiple intermediate sequence point interpolation method for smooth trajectory,and track interpolation method for trajectory optimization based on genetic algorithm,and design for the end of the mechanical arm relative to the base coordinate system in both cases at the end of the series and cartesian space trajectory planning method.(3)The commonly used compliant control method--impedance control is summarized,and then the dynamics model of the manipulator is modeled according to the actual scene requirements.Finally,according to the constraints analysis of motion and force in the coordinated operation of the dual-arm robot,a sliding mode controller based on the extended state observer is designed.Combined with the identification model,feedback linearization is used to realize the trajectory tracking control of the robot,so as to improve the anti-interference performance of the trajectory tracking control of the industrial robot.(4)Field operation design for dual-arm robot in live operation.Firstly,the site operation and operation object are analyzed,and the task is decomposed.Secondly,the work flow of replacing fuses for live working robot is designed.The work flow of removing faulty fuses and installing new fuses is designed in detail.Finally,two control modes,master-slave control and autonomous control,are used to design the software control logic and each sub-function implementation program in detail.