Design of high voltage live operation robot system

To meet domestic live line charged 10 kv distribution network operation requirements, high-voltage live working robot system was developed, including robot subsystem and homework personnel platform subsystem is made up of two parts including, can maximum limit satisfy charged assignments require the use of series parallel manipulator and six dimensional force/torque sensor built teleoperation robot system hardware, and based on it ROS(Robot Operating System) designed the master-slave teleoperation system software to realize the position, pose and force information interaction between the master and slave arms; By mapping the end position and attitude of the main arm to the wrist position and end attitude of the slave arm, the pose mapping model between the master and slave arms is established. Prototype test results show that the designed master-slave teleoperation system can effectively achieve the main arm to from arm position mapping, and by the contact force feedback from the arm to the arm The robot system has been done on the actual live line charged lire welding operation, greatly reduce the labor intensity of the workers and guarantee the safety of operating personnel, meet the requirements of the current live working.