Research On Control Method Of Pulling And Closing Drop-out Fuses By Power Operation And Maintenance Robot

With the continuous increase of electricity consumption and the rapid development of power operation and maintenance robot technology in China,it has become an inevitable trend to use robots instead of human to complete the high-risk and high-intensity power operation and maintenance work.Based on the research and development of distribution line maintenance robot system as the project background,this paper focuses on the problem of robot pull-and-drop fuse,designs and implements a set of robot pulland-drop fuse scheme,and completes the system design and experimental debugging.The thesis mainly completed the following work:(1)According to the electric power operation scenario and the installation mode and operation requirements of the drop type fuse,the overall structure of the electric power operation and maintenance robot system is given.According to the power operation requirements of pull-down fuses,combined with the overall platform of the manipulator system and the operation requirements of pull-down fuses,an appropriate terminal fixture of the manipulator is designed,and the scheme design of pull-down fuses of distribution line maintenance robots is given.(2)Aiming at the task of pulling the drop fuse of the manipulator,the kinematic model of the manipulator during the operation task was established,and the trajectory planning method of the manipulator under this task was given;The static model of the manipulator is analyzed,the coordinate transformation formula of the generalized force is studied,and the Jacobian matrix of the manipulator is established.Based on the requirements of the mechanical arm pulling fuse,the force conditions of the double manipulators in the operation process were analyzed respectively.Combined with the generalized force coordinate transformation and gravity compensation method,the problem that the contact force between the mechanical arm and the operation object was difficult to solve was solved,which laid a foundation for the compliant operation control of the mechanical arm.(3)According to the different work tasks of the main and auxiliary manipulators in the process of pulling and closing the drop fuse,the compliant control strategy required by the cooperative operation of the two manipulators is analyzed,the admittance control method is adopted,and the influence of admittance parameters required by the manipulator in admittance control is analyzed.Conventional admittance control is adopted for the manipulator with fixed environment position and constant expected force.In order to solve the problem of environmental position change and expected force change,an adaptive admittance controller is further designed for the working conditions of the main manipulator,and an adaptive admittance control system is built.Simulation results verify the effectiveness of the proposed method in the control of pull-down fuse of the manipulator.(4)Aiming at the operation task of pulling and closing the fall-type fuse with the manipulator,a set of action strategy of pulling and closing the fall-type fuse with the twoarm robot holding the insulation rod and the brake rod respectively and integrating the force sense information is designed,which can ensure the "stability","fast" and "slow" in the operation process.The experiment of pull-down fuse of power line operation and maintenance robot is carried out in the laboratory.Experimental results show that the robot can successfully complete the task of pulling and closing the drop fuse,which verifies the feasibility and effectiveness of the proposed scheme.