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作业效率低、劳动强度大、高空、高压危险的不足,设计了一种双臂、双机械手的绝缘子串更换带电作业机器人构型,提出了速度、位置混合控制模式下基于电磁传感器的机器人定位控制方法,给出了机器人更换绝缘子串的作业流程,最后对机器人进行工频耐压试验并在实际线路上进行机器人带电更换绝缘子试验,结果验证了机器人具有较强的抗电磁干扰的能力,且文中所提出的绝缘子串更换带电作业机器人控制方法可行有效,进一步提高了作业效率和安全性。

英文摘要：

In response to the shortage of entirely artificial replacement for high voltage transmission line suspend- ing insulator strings of low operating efficiency, labor-intensive, high height and high risk, a double arms and a double manipulators insulator string replacement with live working robot configuration is designed. The velocity position mixed control mode is proposed based on the electromagnetic sensor robot locating control method. The process of robot replacing the insulator strings is given. Finally, the power frequency voltage withstand test and the robot replacement insulator test on actual live line are carried out. The results validate that the robot has a strong ability of anti-electromagnetic interference and the proposed insulator string replace live working robot control method is feasible and effective. In addition, the operational efficiency and safety is improved.