配电网作业机器人协调控制动力学模型研究

针对配电网人工检修作业风险高、效率低的特点，提出一种新型配电网检修作业机器人的结构模型。在该机器人结构基础上，建立工作机器人与工作物体之间闭合链的关节动力学模型，分别得到不同工作模式下的系统动力学方程；设计机器人的力-位置混合协调控制系统，提出闭环内力的动态分配方法，并通过仿真实验和现场运行验证了力-位置混合协调控制可以有效降低机器人操作过程中的闭环内力，表明该机器人能有效实现机器人的剥线、修线、连线等配电检修功能。

Research on Dynamic Model of Coordinated Control of Distribution Network Robot

According to the characteristics of high risk and low efficiency of manual maintenance of distribution network, a structural model of a new distribution network maintenance robot was proposed.Based on the structure of the robot, the joint dynamics model of the closed chain between the working robot and the working object was established, the system dynamics equations under different working modes were obtained, and the force position hybrid coordinated control system for the robot was designed.The dynamic distribution method of closed-loop internal force was proposed, and the simulation experiment and field operation verify that the force position hybrid coordination control can be used to effectively reduce the closed-loop internal force in the operation process of the robot, which shows that the robot can effectively realize the functions of power distribution maintenance such as stripping, trimming, wiring and so on.