| Live working is an important technology in the power industry.But due to the particularity of its operating environment,it is a high-risk task and requires high labor intensity and so on.As one of the special robots,live-working robots need perfect insulation and anti-interference ability to replace workers in high-voltage live-working environment.A good insulation performance ensures the safety of both operators and equipment in live working;while a good anti-interference ability can not only guarantee the stability of equipment,but also improve the safety of operation.Therefore,according to the performance requirements of live operation,this paper developed an all-pneumatic actuated sensorless feedback manipulator,and conducted research on the operability of this manipulator.Main works of this dissertation are as follows:1.The research on the configuration scheme and structure design of manipulator.Based on the characteristics of the working environment in the high voltage substation,the working environment and the working tasks are analyzed.The scheme and design indexes are also determined.According to the scheme,the DOF(degree of freedom)allocation of the manipulator is determined,each joint's structure of the manipulator is calculated and designed orderly.Finally,the overall design of the manipulator is completed.2.The design of the pneumatic control system.Based on the characteristics of the pneumatic actuator,the control logic is analyzed,the related pipeline losses and requirements are calculated,and the pneumatic control system is drawn through design software.According to the control requirements of the valve group,the control circuit is designed to complete the construction of the electro-pneumatic control platform.Meanwhile the system is simulated and analyzed.3.The research on the model predictive control based on the sensorless structure.Limited by the working environment of substation,considering the insulation requirements of live operation,a model-based predictive control method is proposed for the pneumatic joint.The dynamic model of the pneumatic joint is developed,and the joint rotation angle is predicted by the model to improve the accuracy of the joint motion control of the manipulator.4.The operation experiment of the manipulator.The manipulator is operated manually through the control terminal.The experimental results are used to access the actual operation effect of the manipulator. |
