线驱柔性机械臂在电力行业应用现状与关键技术综述

doi:10.3901/JME.2025.09.211

摘要/Abstract

摘要： 线驱柔性机械臂作为电力机器人的一种作业工具，在电力行业关键设备运维检修领域发挥了重要作用。总结了线驱柔性机械臂在变电和以核电为主的发电领域中的应用现状，综述了电力场景下所应用的线驱柔性机械臂的关键技术，分析了线驱柔性机械臂的结构设计、建模控制、传感检测、运动规划和人机交互的研究现状与存在的问题。最后，分别从线驱柔性机械臂在电力行业和其他工业领域关键设备运维检修的发展趋势进行总结与展望。

关键词: 线驱柔性机械臂, 电力行业, 运维检修, 头部跟随

Abstract: As a working tool of power robot, wire-driven flexible manipulator plays an important role in the field of key equipment operation and maintenance in the power industry. The application status of wire-driven flexible manipulators in power transformation and power generation mainly in nuclear power is summarized. The key technologies of wire-driven flexible manipulators applied in power scenarios are reviewed, and the research status and existing problems in structure design, modelling control, sensing detection, motion planning and human-machine interaction technology of wire-driven flexible manipulators are analyzed. Finally, the wire-driven flexible manipulator development trend of the operation and maintenance of key equipment in the power industry and other industrial fields is prospected.

Key words: wire-driven flexible manipulator, power industry, operation and maintenance, head following

中图分类号:

TP241

佃松宜, 马丛俊, 向国菲. 线驱柔性机械臂在电力行业应用现状与关键技术综述[J]. 机械工程学报, 2025, 61(9): 211-230.

DIAN Songyi, MA Congjun, XIANG Guofei. Review: Application Status and Key Technologies of Wire-driven Flexible Manipulator in Power Industry[J]. Journal of Mechanical Engineering, 2025, 61(9): 211-230.

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