Design of a dual-arm robot system for secondary wiring tasks in substations

To address the problems of low efficiency, poor consistency, and high safety risks associated with manual operations in substation secondary wiring tasks, the design and control of a dual-arm robot system have been carried out. Firstly, a dual-arm robot system model integrating mechanical structure, sensing, and control units is constructed. Equipped with dual six-axis collaborative robotic arms and a multimodal perception system, the model achieves environmental perception and precise manipulation. Secondly, a specialized end-effector with wire core clamping and terminal block screw tightening functions was designed, together with a wire core preprocessing tool library integrating wire cutting, stripping, bending, and number tube sleeving. These designs enhanced operational adaptability and continuity. Finally, a robot cooperative control strategy based on visual servoing and adaptive impedance control was proposed, and high-precision compliant operation was achieved through a hierarchical control architecture. Experimental verification shows that the system exhibits high success and qualification rates in terminal docking and wire core processing, can adapt to the complex operating conditions of substations, and effectively improves the automation level and reliability of secondary wiring operations.