【摘要】 随着电力需求的增加和配电网络改造维护需求的提升，旁路带电作业逐渐广泛应用于配电设备检修和维护。现有旁路作业方式主要依赖人工操作，存在效率低、风险高等问题，迫切需要开展旁路带电作业机器人研究。针对于旁路引下线缆质量大、难抓握等问题，设计了一种架空线路旁路带电作业机器人。针对架空作业场景及电力设备分析，采用双工具+单臂作业模式，将任务分为挂线与紧固两部分，降低了工具的复杂度与质量。通过拓扑优化设计实现挂线工具轻量化，整体减重26.9%,并验证了其强度与可靠性。针对旁路引下线缆变形与作业位姿变化问题，利用点云配准算法实现了精确的位姿估计。最后完成试验样机搭建与现场应用测试，验证了旁路带电作业机器人可行性。更多还原

【Abstract】 With the increase of power demand and the improvement of distribution network transformation and maintenance needs, bypass power operation is increasingly used in distribution equipment overhaul and maintenance. The existing bypass operation method mainly relies on manual operation, which has the problems of low efficiency and high risk. There is an urgent need to carry out research on bypass power-carrying operation robots. Aiming at problems of heavy bypass lead cables and difficulty in grasping them, this paper designs an overhead line bypass power operation robot. Aiming at the analysis of overhead operation scene and electric equipment, it adopts dual-tool+single-arm operation mode, and divides the task into two parts: hanging wire and fastening, which reduces the complexity and quality of the tool. The topology optimization design realizes lightweighting of the wire hanging tool, with an overall weight reduction of 26.9%, and verifies its strength and reliability. In order to solve the problems of cable deformation and position change under bypass, the point cloud alignment algorithm is used to realize accurate position estimation. Finally, the test prototype and field application test are completed to verify the feasibility of the bypass power-carrying operation robot.更多还原