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Keywords

robot, replacing stockbridge damper, mechanical configuration, H Hinfinity control method

Abstract

Artificial live replacement for stockbridge damper is a laborintensive process with low efficiency and high danger. In order to overcome those shortages, a kind of living work robot with double operation ends is developed to replace stockbridge damper. In this paper, the robot's walking wheel, clamping mechanism and operation end are designed. The integration design of ontology control platform and telemanagement host control platform is completed. The replacing process of stockbridge damper by the robot is worked out. And an universal joint motion model of multiarm robot as well as its H Hinfinity control method are put forward to enhance the robustness and working environmentadaptive ability of the robot. Finally, the AC withstand voltage test and fielded experience test shows that the structural design of robot is reasonable. The robot action is coherent and fluent during the crossing, removing and installing the stockbridge damper. All key actions meet the positioning requirements.

DOI

10.19781/j.issn.16739140.2020.02.024

First Page

178

Last Page

183

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