Development of the tightening nut task skill using a power distribution line maintenance experimental robot

摘要

An autonomous robot system for power distribution line maintenance work is developed. At the maintenance work level, one of the most repeated tasks is tightening a nut. The nut tightening task is carried over using a remote joystick under damping control, and the procedure for automatically tightening nut is considered and a feasibility study is conducted using an experimental robot system. If the robot aligns the axis of the socket of the impact wrench to the axis of the bolt within a tolerance of 5 degrees, the robot will perform the nut tightening task.