Sky-Worker: a heterogeneous dual-arm robot with dynamic authority assignment for live-line working
ISSN: 0143-991X
Article publication date: 13 February 2024
Issue publication date: 23 February 2024
Abstract
Purpose
The current difficulties of distribution network working robots are mainly in the performance and operation mode. On the one hand, high-altitude power operation tasks require high load-carrying capacity and dexterity of the robot; on the other hand, the fully autonomous mode is uncontrollable and the teleoperation mode has a high failure rate. Therefore, this study aims to design a distribution network operation robot named Sky-Worker to solve the above two problems.
Design/methodology/approach
The heterogeneous arms of Sky-Worker are driven by hydraulics and electric motors to solve the contradiction between high load-carrying capacity and high flexibility. A human–robot collaborative shared control architecture is built to realize real-time human intervention during autonomous operation, and control weights are dynamically assigned based on energy optimization.
Findings
Simulations and tests show that Sky-Worker has good dexterity while having a high load capacity. Based on Sky-Worker, multiuser tests and practical application experiments show that the designed shared-control mode effectively improves the success rate and efficiency of operations compared with other current operation modes.
Practical implications
The designed heterogeneous dual-arm distribution robot aims to better serve distribution line operation tasks.
Originality/value
For the first time, the integration of hydraulic and motor drives into a distribution network operation robot has achieved better overall performance. A human–robot cooperative shared control framework is proposed for remote live-line working robots, which provides better operation results than other current operation modes.
Keywords
Acknowledgements
Funding: This work was supported by the National Key R&D Program of China (Grant number: 2018YFB1307400) and the State Grid Anhui Science and Technology Project.
Citation
Li, Y., Wang, Y., Chen, Y., Rong, X.W., Zhao, Y., Wu, S. and Dong, E. (2024), "Sky-Worker: a heterogeneous dual-arm robot with dynamic authority assignment for live-line working", Industrial Robot, Vol. 51 No. 2, pp. 301-313. https://doi.org/10.1108/IR-07-2023-0154
Publisher
:Emerald Publishing Limited
Copyright © 2024, Emerald Publishing Limited