悬垂绝缘子清扫机器人设计与实验研究
文献类型：学位论文
| 作者 | 王林 |
| 学位类别 | 博士 |
| 答辩日期 | 2017-05-27 |
| 授予单位 | 中国科学院沈阳自动化研究所 |
| 授予地点 | 沈阳 |
| 导师 | 王洪光 |
| 关键词 | 绝缘子清扫机器人 机构设计 行为规划 控制系统设计 悬垂绝缘子 |
| 其他题名 | Research on Design and Experiments of an Insulator Cleaning Robot for Suspension Insulator Strings |
| 学位专业 | 机械电子工程 |
| 中文摘要 | 采用绝缘子清扫机器人对输电线路绝缘子进行清扫可以有效地清除沉积于绝缘子表面的污秽，减少和防止污闪事故的发生。本文依托于国家电网东北电网有限公司科技项目“绝缘子带电清扫机器人样机系统研制”（课题编号：Y2V3140301），针对500kV超高压交流输电线悬垂绝缘子串的带电清扫作业任务需求，研制一套绝缘子清扫机器人原理样机系统并开展相关研究工作，提高电力检修作业自动化水平。首先综述了绝缘子检测与清扫机器人的研究现状，重点总结了机构设计、控制系统、行为规划的研究成果。在此基础上，从机器人机构设计展开研究，进行了机器人的准静态和力学性能分析，之后基于分层递阶结构设计了机器人控制系统，开展了机器人清扫作业行为规划研究，并进行了相关的实验研究。具体的研究内容如下： （1）开展机器人机构设计研究。结合500kV输电线路悬垂绝缘子串的环境特点和带电清扫任务需求，提出了一种由基于蠕动式运动机理的移动机构和基于串联关节的清扫机构组成的绝缘子清扫机器人机构。在给出机器人构型的基础上，介绍了机器人的工作流程，并简要分析了机器人的运动学。 （2）开展了机器人准静态建模与力学性能分析。在分析夹紧平台受力的前提下，分别针对上夹紧平台夹持绝缘子和下夹紧平台夹持绝缘子的情形，建立了机器人的准静态模型。针对机器人的攀爬安全性问题，进行了夹紧机构的力封闭性分析和论证，验证了夹持机构的可行性。建立了机器人移动机构的虚拟样机模型并利用Adams对机器人沿绝缘子串向下的运动过程进行了仿真。（3）进行了机器人控制系统的设计。在分析控制系统设计需求的基础上，采用了一种基于分层递阶结构的绝缘子清扫机器人控制系统。绝缘子清扫机器人控制系统由机器人本体控制器和地面基站构成。以数字信号处理器TMS320F28335为控制核心，进行了机器人本体控制器硬件设计和地面基站硬件设计。探讨了嵌入式系统软件的分层结构，采用嵌入式实时操作系统DSP/BIOS，进行了控制系统软件设计，详细介绍了驱动层软件和应用层软件的设计过程。 （4）开展了机器人清扫作业行为规划研究。针对机器人的自主控制需求，提出了一种基于机器人行为的清扫作业行为规划方法。根据机器人的机构特点、作业环境特点和清扫任务需求，将绝缘子清扫机器人的行为分为基本行为和组合行为，并利用有限状态机管理组合行为。对机器人的清扫作业进行了描述和分解，利用子任务序列描述机器人的清扫作业，并采用组合行为实现子任务。在Matlab/Simulink中，建立了机器人的清扫作业行为规划模型并进行了仿真，验证了行为规划方法的正确性。 （5）开展绝缘子清扫机器人实验研究。利用研制的机器人原理样机系统，在实验室环境下开展了机器人的夹持实验、行为规划实验、移动实验和清扫实验。在此基础上，开展了综合实验，验证了机器人机构设计的可行性和清扫作业行为规划方法的正确性和有效性。 |
| 英文摘要 | Insulator cleaning using live-line insulator cleaning robots can effectively remove the deposits on the surfaces of contaminated insulators of power transmission lines to prevent flashovers caused by pollutants from occurring. This research is primarily supported by Science and Technology Projects of Northeast China Grid Company Limited of the State Grid Corporation of China, and the project is titled “Prototype design of a live-line insulator cleaning robot system” (Grant No. Y2V3140301). The research is to develop the prototype of the live-line insulator cleaning robot to meet the demands for the live-line cleaning task of the suspension insulator strings of 500kV Extra-High-Voltage (EHV) transmission lines and to promote the applications of power system automation. This thesis begins with a review of the related work in insulator inspection and cleaning robots, especially on the mechanism design, the control system and the behavior planning. On this basis, the thesis starts with the mechanism design of the robot. Then, the quasi-static mechanics analysis is carried out and the force-closure grasp of the robot is verified. After that, the control system based on the layered hierarchical control structure is developed. Finally, the behavior planning of the cleaning task of the robot is completed and the experiments are carried out. The thesis is structured as follows. (1) Mechanism design of robot. According to the environmental characteristics of the suspension insulator set in 500kV power transmission lines and the demands for live-line cleaning task, the robot mechanism is proposed. The robot is consisted of the locomotion mechanism based on the inchworms, and the cleaning mechanism composed of serial joints. The configuration of the robot mechanism is given and the working process is introduced. The kinematics of the robot is briefly analyzed. (2) Quasi-static mechanics analysis and force-closure analysis. After the mechanics of the grasping platform is analyzed, the quasi-static mechanics for the case where the upper grasping platform engages the insulator string and the case where the lower grasping platform engages the insulator string are studied. For safety considerations of the robot when it moves along the insulator chain, the force-closure grasp of the grasping mechanism is verified, which validates the feasibility of the grasping method. The virtual prototype of locomotion mechanism is developed and simulation on the grasping and movement of the locomotion mechanism is carried out in Adams. (3) Design of the control system of the robot. On the basis of the design requirements of the control system and the layered hierarchical control structure, the structure of the control system of the insulator cleaning robot is introduced. The control system of the robot is consisted of the local controller and the ground control station. With the Digital Signal Processor (DSP) being the control kernel, the hardware of the local controller and the ground control station is designed. The layered structure of the embedded system software is discussed, and the software of the robot is designed using the Real-Time Operating System (RTOS) DSP/BIOS. The details of the drivers and application software are given. (4) Behavior planning of the cleaning task of the robot. A behavior planning method for cleaning task is proposed to improve the autonomy of the robot. Taking the characteristics of the robot mechanism, the working environment and the demands for the cleaning task into account, the behaviors of the robot is classified into two types, namely, basis behavior and combinational behavior. The Finite State Machine (FSM) is used to manage the sequence of behaviors of the combinational behavior. The cleaning task is decomposed and a sequence of sub-tasks which can be accomplished by combinational behavior is used to describe the cleaning task. The model of the behavior planning of the robot is established using the Stateflow toolbox. Simulation is carried out and the results demonstrate the correctness of the proposed method. (5) Experiment. Sub-item experiments on the prototype of the robot system are first carried out in laboratory to test the performance of the robot, i.e. the grasping experiment, the behavior planning experiment, the locomotion experiment and the cleaning experiment. Then, the integrative experiment is conducted to demonstrate the feasibility of mechanism design and the correctness and validity of the behavior planning method. |
| 语种 | 中文 |
| 产权排序 | 1 |
| 源URL | [http://ir.sia.cn/handle/173321/20534]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | 王林. 悬垂绝缘子清扫机器人设计与实验研究[D]. 沈阳. 中国科学院沈阳自动化研究所. 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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