A Dual-Arm Robot System for Live-Line Working on Distribution Network

With the growing demand for electricity, live-line working for distribution network has gained increasing attention worldwide to ensure uninterrupted power supply. Live-line working robots have significantly enhanced the efficiency of maintance and ensured the safety of operators, leading to their growing application. In this paper, we propose a dual-arm collaborative live-line working robot system for the distribution network, with design considerations for both hardware and software. On the hardware level, the robot is primarily composed of two UR5e robot arms and is equipped with various visual sensors to get information about work environment. We use the Touch haptic device of 3D Systems to teleoperate the UR5e robot arm. On the software level, we propose a master-slave heterogeneous teleoperation method, where the position and orientation of UR5e end-effector are respectively controlled through incremental mapping and one-to-one mapping. This system not only enhances operators' safety but also improves the sense of immersion and operational accuracy, demonstrating significant practical value and broad application prospects.