户外变电站支柱式绝缘子清扫机械臂运动学研究

支柱绝缘子是隔离开关和断路器等电气设备的组成部分,电力系统安全稳定运行与绝缘子安全运行息息相关。为了解决我国电力设备外绝缘维护的缺点,对变电站支柱式绝缘子清扫系统机械臂进行了研究。通过对绝缘子清扫机械臂机构进行简化后得到简版D-H参数,并由此列出运动学正解方程,并利用正解方程对工作空间进行分析。然后,使用反变换法依次求解每个关节角度,得到了运动学逆解。最后,推导机械臂的正解和逆解的运动学公式,进行了运动学正解、任务空间和运动学逆解的仿真,验证了所推解的机械臂正解、逆解是正确的。

Research on Kinematics of the Stanchion Insulator Cleaning Robot Arm in an Outdoor Substation

Stanchion insulators are components of electrical equipment such as isolation switches and circuit breakers. The safe and stable operation of the power system is closely related to the safe operation of insulators. In order to solve the shortcomings of the external insulation maintenance of power equipment in China, this paper studies the mechanical arm of the stanchion insulator cleaning system of substations. The D-H parameters are obtained by simplifying the mechanism of the insulator cleaning mechanism, and then the forward kinematic equation is listed, and the working space is analyzed by using the forward equation. Then, the inverse transformation method is used to solve each joint angle successively, and the inverse kinematics solution is obtained. At last, the working space and inverse kinematics solutions are simulated by using the tool box of the robot arm and the forward and inverse kinematics formulas in the paper respectively, and the correctness of the forward and inverse solutions is thus verified.