Simulation Research on Trajectory Planning of Double-arm Cooperative Live Working Robot for Transmission Lines

Abstract

High-voltage transmission lines are the main artery for power transmission, dampers, insulators and drainage plates are typical hardware on transmission lines. The harsh service environment will damage transmission line hardware and seriously affect the safety and stable operation of transmission lines. The electrical power robots are used to carry out transmission line maintenance operations. It is of great significance to improve work safety and work efficiency. Through the analysis of typical hardware maintenance tasks, it can be seen that most of the operations require the coordinated movement of the double arms to complete. Based on this, this paper proposes a basic configuration of a double-arm collaborative robot. At the same time, based on the polynomial interpolation theory, the robot arm motion trajectory planning is carried out, and then the trajectory planning simulation model of the robot manipulator in the MATLAB environment has been established and the trajectory simulation research has been carried out on the robot manipulator to reconstruct the end tool and the manipulator to carry the end tool to the work point. The simulation results show that compared with the single-arm operation mode, the cooperative operation of the double arms can not only improve the operation efficiency, but also complete some tasks that cannot be completed by the single-arm operation, the research in this paper has important theoretical significance and practical application value for the intelligent operation and maintenance management of transmission network.