工程科学学报，第38卷，第6期：867-875,2016年6月 Chinese Journal of Engineering,Vol.38,No.6:867-875,June 2016 DOI:10.13374/j.issn2095-9389.2016.06.018:http://journals.ustb.edu.cn 带电作业机器人机械臂动力学建模与运动规划 江 维2，吴功平12》，王伟12”，张颉2) 1)武汉大学动力与机械学院，武汉4300722)武汉大学机器人研究所，武汉430072 ☒通信作者，E-mail:jiangwei.2013@whu.edu.cm 摘要研制了一种双臂、双机械手的绝缘子串更换带电作业机器人·分解了机器人作业过程中机械臂的运动.利用拉格朗 日法并结合关节电机电枢电压方程对机器人机械臂基本动作进行动力学建模，得出机械臂基本动作的统一动力学模型，计算 出机械臂2的动力学方程，提出基于五次多项式插值的机械臂运动轨迹规划方法，计算出机械臂2各关节运动方程.在 ADAMS:环境下进行机器人机械臂动力学和运动学仿真，结果验证了动力学模型的正确性，同时各关节运动轨迹规划满足运动 学要求.最后在实际线路上进行机器人带电更换绝缘子串实验，结果表明机器人机械臂各关节运动获得了较好的动态性能， 验证了本文提出的五次多项式插值机械臂运动轨迹规划具有较强的工程实用性，进一步提高了机器人的作业效率和稳定性. 关键词机器人：机械手；动力学建模；运动规划 分类号TP242.3 Manipulator dynamic modeling and motion planning for live working robot JIANG Wei,WU Gong-ping),WANG Wei,ZHANG Jie 1)School of Power and Mechanical Engineering,Wuhan University,Wuhan 430072,China 2)Robot Research Institute,Wuhan University,Wuhan 430072,China Corresponding author,E-mail:jiangwei2013@whu.edu.cn ABSTRACT This article is focused on a double-arm and double-manipulator live working robot.The arm motion of the robot for insulator string replacement during the operation process was decomposed.The basic operation dynamic model was established by the Lagrange method combined with the armature voltage equation,the dynamic equations of manipulator 2 were calculated,the manipula- tor motion trajectory planning method was proposed based on five-polynomial interpolation,and the kinematics equations of manipulator 2 each joint were calculated.Robot manipulator dynamics and kinematics simulations were performed in ADAMS environment.The re- sults verify the correctness of the dynamic model,and the joint trajectory planning meets the kinematic requirements.Finally,insulator string replacement experiments of the robot were tested on actual line.The results show that each robot manipulator joint movement ob- tains a better dynamic performance,which validates that the proposed five-polynomial interpolation manipulator trajectory planning has strong practicability,and can further improve the robot operational efficiency and stability. KEY WORDS robot:manipulator:dynamic modeling:motion planning 带电作业·是在高压电气设备上不停电进行检修、测试的一种作业方法，其对电网稳定运行，确 收稿日期：201507-10 基金项目：中央高校基本业务费资助项目(2104005)：国家电网湖南省电力公司科技资助项目(5216A01400B1)工程科学学报，第 38 卷，第 6 期: 867--875，2016 年 6 月 Chinese Journal of Engineering，Vol． 38，No． 6: 867--875，June 2016 DOI: 10． 13374 /j． issn2095--9389． 2016． 06． 018; http: / /journals． ustb． edu． cn 带电作业机器人机械臂动力学建模与运动规划 江 维1，2) ，吴功平1，2) ，王 伟1，2) ，张 颉1，2) 1) 武汉大学动力与机械学院，武汉 430072 2) 武汉大学机器人研究所，武汉 430072  通信作者，E-mail: jiangwei2013@ whu． edu． cn 摘 要 研制了一种双臂、双机械手的绝缘子串更换带电作业机器人． 分解了机器人作业过程中机械臂的运动． 利用拉格朗 日法并结合关节电机电枢电压方程对机器人机械臂基本动作进行动力学建模，得出机械臂基本动作的统一动力学模型，计算 出机械臂 2 的动力学方程，提出基于五次多项式插值的机械臂运动轨迹规划方法，计算出机械臂 2 各关节运动方程． 在 ADAMS环境下进行机器人机械臂动力学和运动学仿真，结果验证了动力学模型的正确性，同时各关节运动轨迹规划满足运动 学要求． 最后在实际线路上进行机器人带电更换绝缘子串实验，结果表明机器人机械臂各关节运动获得了较好的动态性能， 验证了本文提出的五次多项式插值机械臂运动轨迹规划具有较强的工程实用性，进一步提高了机器人的作业效率和稳定性． 关键词 机器人; 机械手; 动力学建模; 运动规划 分类号 TP242. 3 收稿日期: 2015--07--10 基金项目: 中央高校基本业务费资助项目( 2104005) ; 国家电网湖南省电力公司科技资助项目( 5216A01400B1) Manipulator dynamic modeling and motion planning for live working robot JIANG Wei1，2)  ，WU Gong-ping1，2) ，WANG Wei1，2) ，ZHANG Jie1，2) 1) School of Power and Mechanical Engineering，Wuhan University，Wuhan 430072，China 2) Ｒobot Ｒesearch Institute，Wuhan University，Wuhan 430072，China  Corresponding author，E-mail: jiangwei2013@ whu． edu． cn ABSTＲACT This article is focused on a double-arm and double-manipulator live working robot． The arm motion of the robot for insulator string replacement during the operation process was decomposed． The basic operation dynamic model was established by the Lagrange method combined with the armature voltage equation，the dynamic equations of manipulator 2 were calculated，the manipula￾tor motion trajectory planning method was proposed based on five-polynomial interpolation，and the kinematics equations of manipulator 2 each joint were calculated． Ｒobot manipulator dynamics and kinematics simulations were performed in ADAMS environment． The re￾sults verify the correctness of the dynamic model，and the joint trajectory planning meets the kinematic requirements． Finally，insulator string replacement experiments of the robot were tested on actual line． The results show that each robot manipulator joint movement ob￾tains a better dynamic performance，which validates that the proposed five-polynomial interpolation manipulator trajectory planning has strong practicability，and can further improve the robot operational efficiency and stability． KEY WOＲDS robot; manipulator; dynamic modeling; motion planning 带电作业［1--3］是在高压电气设备上不停电进行 检修、测试的一种作业方法，其对电网稳定运行，确