Dual manipulator system of the field hot-line working robot in 110-kV substations

Abstract

Purpose The purpose of this paper is to present a dual manipulator system for aloft hot-line assembly tasks of connection fittings in 110-kv intelligent substation, which is significant to the research on hot-line working robots. Design/methodology/approach This paper addresses the challenges of the task and presents a dual manipulator system which can overcome these challenges to realize the robotic assembly of connection fittings in narrow space without impacting the safe distance of both phase to phase and phase to ground. Two manipulators share a same global reference coordinate. The mission of Manipulator 1 is to position the fixed part of connection fittings and screw the bolts on it. Visual computing provides the approximately position for the end-effector of Manipulator 2, after which The Manipulator 2 carries the removable part of connection fittings to this position. Then, the assembly task could be completed with the posture of the Manipulator 2 adjusted following the guidance by force-position control. Findings The dual manipulator system can position the target under different illumination conditions and complete fast assembly of connect fittings in 110-kV substation. No strong arc discharge or surface erosion phenomenon has been observed. Practical implications This dual manipulator system will be particularly useful for the hot-line assembly of connection fittings in 110-kv intelligent substation, as well as some assembly tasks where uncertain target position and complex contact surface such as cylindrical hole is involved. Originality/value This study presents a dual manipulator system used by a field robot working in 110-kv intelligent substation. The system is able to achieve the connection fittings assembly task under energized simulation experimental system. Unlike other peg-in-hole assembly strategy, it does not require high stability of manipulator or plane contact surface around the hole.

A localization method of manipulator towards achieving more precision control

“…Under constraintZCZ T = 1, solving the minimum value of Equation ( 13) can be transformed into solving generalized eigenvalues and eigenvectors. The eigenvectors corresponding to eigenvalues greater than zero are the target parameters of Equation (13).…”

“…Song et al 12 used the monocular vision positioning method to realize the path planning of the manipulator, which ensures the reliability of the manipulator operation. The problem 13 of connecting appliances in a narrow space based on the monocular vision to resolve. A monocular vision system can also apply to the distance measurement of intelligent driving, 14 the visual positioning system of underwater robots, 15 and the corridor navigation of mobile robots 16 …”

Hot-line assembly strategy for connection fittings in 110kV intelligent substation

“…Therefore, our model focuses on the searching-hole process and is based on the condition that the LS is parallel to the CC before the assembly. Based on the structure, relative position and attitude of the LS and the CC, the following three types of mechanical models can be established (Tang et al ., 2017).…”