Review: Application Status and Key Technologies of Wire-driven Flexible Manipulator in Power Industry

doi:10.3901/JME.2025.09.211

Abstract

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

CLC Number:

TP241

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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