| With the rapid development of robot,it is also widely used in various service industries.Nowadays,the State Grid has put forward higher requirements for more efficient and safe work at height.Therefore,we began to study the intelligent development of power distribution operation and the replacement of manual operation by live working robots and dexterous arms,so as to improve work efficiency and ensure manual safety.However,at present,the dexterous arm of ground potential live working robot has the problems of insufficient load and control stability.aiming at the existing problems,a smart arm applied to the ground potential live working robot is designed,and a new gravity balance device is designed to reduce the driving torque of the boom joint and improve the load capacity of the smart arm;The adaptive PD control based on gravity compensation is used to improve the control performance of the dexterous arm,and the overall performance of the robot is improved.The innovations and main research contents of this paper are as follows:(1)In view of the small load of other dexterous arms in the market,a6-DOF dexterous arm with gravity balance device is designed.Using the method based on gravity balance,a spring eccentric gravity balance mechanism is designed.Through ADAMS simulation analysis,it is found that the load capacity of the dexterous arm is increased by 35%.(2)In order to facilitate the study of the complex geometry and motion characteristics of the dexterous arm of the ground potential live working robot,a method of establishing the kinematics of the dexterous arm based on the D-H parameter method is proposed to solve the relationship between the motion of the dexterous arm and the force and torque applied by making it move.The results of the position,attitude,speed and acceleration of the connecting rod of the dexterous arm are calculated by MATLAB,and the workspace of the robot is determined.Aiming at the representation of linear velocity and angular velocity of dexterous arm,a Jacobian real matrix of dexterous arm is proposed.The relationship between velocity and force of dexterous arm is further analyzed,and finally the result of Jacobian matrix of dexterous arm is obtained.(3)In order to study the force required to cause the movement of the dexterous arm,the dynamic equation modeling of the dexterous arm of the ground potential live working robot based on the Lagrange method is proposed,and the Lagrange function of the dexterous arm is obtained;However,the dexterous arm contains gravity balance device.Based on the gravity balance method,the dynamic modeling of the dexterous arm is completed in the Lagrange dynamic equation,and the difference between kinetic energy and potential energy of the whole dexterous arm mechanical system is obtained.The moment of each joint of the dexterous arm is simulated and analyzed by Adams,which provides reliable reference data for the design and optimization of the gravity balance system.(4)After designing the dexterous arm of the ground potential live working robot,according to the requirements of high-altitude work task,aiming at the high-altitude work control problem that the dexterous arm needs to grasp the cable and put it into the puncture clamp,this paper proposes a satisfactory adaptive PD control of the dexterous arm based on gravity compensation.Through the comparison of PD control and adaptive control,PD control and Adaptive control and adaptive PD control system with gravity compensation.Through simulation analysis,it is found that the adaptive PD control of smart arm based on gravity compensation has higher accuracy and faster step signal response.The results show that its control of smart arm is more stable and faster. |
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