Planning of safe working space for the hot-line working robot ICBot

Tang, Mingdong; Gu, Youlin; Wang, Shigang; Liang, Qinghua; Wang, Xiaoxi

doi:10.3233/jae-180057

Cited by 2 publications

(1 citation statement)

References 8 publications

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“…The authors of [1], for example, studied the rigidity characteristics of the robot Kuka KR 500 and identified those areas within the workspace where the least load is applied to the manipulator's gripper drives, thereby meeting the stricter requirements for the accuracy of milling. The task of finding a safe working space (SWS) for a robot involved in the maintenance and monitoring of electrical substations was considered in [3]. Being the basic material for robots, metal significantly changes the intensity and distribution of an electric field at positioning to a working configuration and during operation.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Devising a method to analyze the current state of the manipulator workspace

Ashhepkova

2021

EEJET

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This paper has proposed a program analysis method over the current state of the workspace of an anthropomorphic manipulator using the Mathcad software application package (USA). The analysis of the manipulator workspace helped solve the following sub-tasks: to calculate the limits of the grip reach, to determine the presence of "dead zones" within the manipulator workspace, to build the boundaries of the manipulator workspace. A kinematic scheme of the manipulator typically provides for at least five degrees of mobility, which is why in the three-dimensional Cartesian coordinate system the work zone boundaries represent the surfaces of a complex geometric shape. The author-devised method makes it possible to construct the projections of the boundaries of the manipulator's work zone onto the coordinate planes in the frame of reference associated with the base of the robot. Using Mathcad's built-in features makes it possible to effectively solve the above sub-tasks without wasting time developing specialized software. The Mathcad software application package provides for the possibility of a symbolic solution to the first problem of the kinematics of an industrial robot, that is, the program generates analytical dependences of the coordinates for special point P (pole) of the grip on the trigonometrical functions of the generalized coordinates. The resulting analytical dependences are used for kinematic and dynamic analysis of the manipulator. Special features in constructing mathematical models when using the Mathcad software application package have been revealed. Simulating the manipulator movement taking into consideration constraints for kinematic pairs, the drives' power, as well as friction factors, makes it possible to optimize the parameters of the manipulator kinematic scheme. An example of the analysis of the working space of an anthropomorphic manipulator with five degrees of mobility has been considered. The reported results could be used during the design, implementation, modernization, and operation of manipulators.

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Section: Literature Review and Problem Statementmentioning

confidence: 99%

Devising a method to analyze the current state of the manipulator workspace

Ashhepkova

2021

EEJET

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Investigation of Intelligent Substation Inspection Robot by Using Mobile Data

Qin

Sun

et al. 2022

Int. J. Human. Robot.

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Substation equipment inspection is essential for the power industry. The expansion of the smart grid scale improves the transmission capacity and enhances the likelihood of power plant facilities failure. To ensure the safety of the electric power supply, it is essential to inspect substation equipment. Metal commercial equipment can be traversed by remote inspection robots equipped with magnetic wheels. It is possible to use robots like this to examine equipment and pipelines remotely. In many cases, these gadgets are able to scale vertical surfaces and even traverse obstacles with a variety of shapes. Finally, researchers in the field of robotics have indicated that challenges such as restricted onboard battery capacity, undependable line fault detection, electrical insulation, power mechanism, and advanced control techniques for outer wind disruption are highly promising research areas. To build an unmanned, intelligent, and succeeded substation, the substation progressively implements inspection robots instead of physical exertion. Hence, in this paper, the mobile-based Intelligent Tracking Framework (MITF) has been proposed using inspection robots. This inspection robot is autonomous and can be used for various tracking tools: visual, infrared, and partial charge–discharge camera. The robot is integrated with a camera and thermal infrared imager sensors that have been collectively designated as workload. These inspection sensors are used to detect environmental parameters such as reading meters, evaluation thermoelectric temperature. The accurate localization of working loads and the inspection robot electromagnetic interference within substations have been resolved. This mobile robot delivers innovative monitoring and precise detection for the unmanned substation and smart substation. The suggested approach’s effectiveness is verified through experiment results based on the electrical equipment of the substation. The experimental outcome of the proposed method boosts the Meter Reading Analysis (94.19%), Transmission Capacity Analysis (98.5%), Workload Analysis (98.9%), Temperature Analysis (97.6%), and Safety Analysis (95.41%).

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Planning of safe working space for the hot-line working robot ICBot

Cited by 2 publications

References 8 publications

Devising a method to analyze the current state of the manipulator workspace

Devising a method to analyze the current state of the manipulator workspace

Investigation of Intelligent Substation Inspection Robot by Using Mobile Data

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