高压输电线路带电检修机器人作业臂运动优化

Working manipulator motion optimization of live maintenance robot for high voltage transmission line

针对完全依靠人工带电拧紧高压输电线路引流板螺栓作业效率低、劳动强度大、高空和高电压危险的问题,研制了一种双臂和双机械手的引流板螺栓拧紧带电检修机器人.通过各关节的轨迹规划双作业臂及其末端由初始位姿运动到螺栓螺母对准状态是机器人顺利完成检修作业的关键.针对现有多项式插值关节轨迹规划依赖于轨迹端点时刻,导致该方法实用性差及关节轨迹运动过程中忽略驱动机构对关节状态制约的问题,提出基于Min-Max时间标准化的改进多项式插值关节轨迹规划方法.基于该方法,以关节运动时间为优化对象,提出满足关节轨迹运动全程约束条件的关节运动时间区间范围的求取方法.通过仿真实验验证了改进算法关节轨迹仅与轨迹端点状态及运动时间有关,而与端点时刻无关,进一步淡化轨迹端点时刻对关节轨迹的影响,提高算法的实用性.通过选取最优关节轨迹运动时间,满足了关节状态全程状态约束要求,从而避免超调的发生,优化了各关节运动轨迹,提高了关节运动的效率.最后通过现场试验进一步验证改进算法的工程实用性.

In response to the problems of artificial low-operation efficiency, high labor intensity, high altitude and high risk in drainage board bolt tightening for high voltage transmission line, a bolt tightening live maintenance robot with double arms and double manipulators was designed in this paper. The key to the successful completion of maintenance work is that double working arms and their ends move from the initial position to the bolt and nut alignment state through the trajectory planning of each joint of the robot. The existed polynomial interpolation of joint trajectory planning depends on trajectory endpoint time, leading to some issues such as the low practicability of the method and the neglect of the constraints of the drive mechanism on the joint state in joint trajectory motion, so an improved polynomial interpolation joint trajectory planning method based on Min-Max time standardization was presented. Based on the method, a solving method of joint motion time ranges which meet the requirements of joint trajectory motion constraints was proposed with articulation motion time as the optimization target. Simulation results show that the joint trajectory of the improved algo- rithm is only with regard to trajectory endpoint state and motion time, but not to trajectory endpoint time, which further dilutes the influence of trajectory endpoint time on the joint trajectory, and the practicality of the algorithm is also improved. By selecting the opti- mal trajectory articulation motion time which meets the requirements of whole joint state constraints, the improved algorithm not only avoids the occurrence of overshooting and optimizes the trajectory of each joint, but also improves the efficiency of joint motion. Final- ly, the engineering practicality of the improved algorithm was verified by field operation test.