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Design and Implementation of Replacement Insulator String Equipotential Robot Control System
Authors
凌烈
吕鹏
+4 more
王岩
王洪光
石俏
胡聪
Publication date
1 January 2019
Publisher
Abstract
为了实现带电环境下的绝缘子串更换,提出了一种带电更换绝缘子串等电位机器人的控制系统方案,并完成了软硬件系统设计。针对绝缘子串更换环境对机器人尺寸小、重量轻等要求,控制系统采用了以Beckhoff嵌入式控制器C6015为核心控制器,并带有可见光相机、限位开关等传感器的硬件控制系统,以LabVIEW和TwinCat3为上下位机软件开发环境的软件控制系统。通过测试表明,该控制系统能够完成带电更换绝缘子串过程中所需要的弹簧销的插拔,以及碗头的脱出与装入等操作。</p
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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Last time updated on 05/09/2019