中文摘要：

针对完全依靠人工带电更换高压输电线路悬垂绝缘子串和拧紧耐张跳线引流板螺栓两种作业效率低、劳动强度大、高空、高压危险的不足设计了一种末端可重构四臂移动作业机器人构型。提出了机器人末端机械系统、电气系统、软件系统的重构原理和方法,给出了机器人硬件系统和软件系统的设计思路,最后在实际线路上进行带电作业试验,结果验证了文中所设计的四臂移动作业机器人控制系统具有较强抗电磁干扰能力,机器人顺利实现了两种作业功能,进一步提高了作业效率和安全性。

英文摘要：

In order to solve the problems of low operating efficiency, high labor intensity, high altitude and risk caused by two tasks of artificial operation such as： replacing the high voltage transmission line lator string and tightening clamp drainage board bolts, hanging high insu- this paper designs a kind of four arms mobile working robot nally the robot charged tested on the actual line, the resuhs verify the designed four arms mobile working robot con- trol system with a strong capability of anti-electromagnetic interference, and robot realize the two kinds working function successfully, and further improve the operational efficiency and safety.