高压特种作业机械手的设计

Manipulator of Six Freedom Degrees in the Hot Line Job

高压输电线路长时间暴露在外,会产生输电线路故障,需及时发现并修复。为此,对超高压特种作业机器人中的六自由度维修机械手进行设计。根据机械手的工作特点,对机械手的基座、腰部、大臂、小臂、手腕五部分分别进行结构设计。该方案研制的样机已通过了50 kV等电位实验的测试,达到了预期效果。

The high voltage power transmission line is exposed in the wild for a long time, it will produce trans- mission line fault, and should be timely discovered and repaired. Thus, the repaired manipulator of six freedom degrees in the hot line job is designed. According to operation environment, the base, waist, big arm, small arm and wrist of the manipulator are designed respectively. The 50 kV potential experiment of the prototype is test successfully and the expected effect is achieved.