中文摘要：

以高压输电线路耐张线夹引流板螺栓为作业对象，研究提出了一种可以沿高压输电线路行驶并由双作业臂携带螺栓紧固末端工具进行耐张线夹引流板螺栓紧固的带电作业机器人。研究提出了一种四臂移动作业的螺栓紧固作业机器人构型，即移动机器人的双臂、一个携带螺栓固定末端的机械手、一个携带螺栓拧紧末端的机械手，研究了带电作业机器人的机械结构，分析了作业末端的性能与携带螺栓拧紧末端的机械手动力学模型，研制了机器人样机。通过在实际线路上的带电作业试验，验证了提出的构型方案的正确性和有效性。

英文摘要：

It in view of high-voltage transmission lines clamp drainage plate bolts , proposed an intelligent inspection robot with two arms carrying end actuators of bolt screwing, traveling along high-voltage transmission lines. It presented a four-arm robot configuration that included two arms for moving, an arm for carrying end actuator of bolt screwing, an arm for carrying end actuator of bolt tightening, and studied the mechanism structure, analyzed the performance of end actuator of bolt screwing and the dynamics model of the arm carrying end actuator of bolt screwing, and developed robot prototype. By doing trials on the actual line, it tested the validity and effectiveness of the proposed configuration program.