Mingdong Tang, Youlin Gu, Yunjian Zhang and Shigang Wang
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…
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.
Details
Keywords
Mingdong Tang, Youlin Gu, Shigang Wang, Qinghua Liang and Xiaoxi Wang
The purpose of this paper is to provide a safe control strategy for aloft hot-line assembly of connection fittings in 110kV intelligent substations, which is significant to…
Abstract
Purpose
The purpose of this paper is to provide a safe control strategy for aloft hot-line assembly of connection fittings in 110kV intelligent substations, which is significant to research on hot-line working robots.
Design/methodology/approach
This paper addresses challenges of the task and establish the contact models of connection fittings. By using this control strategy, neither high precision vision positioning nor preset global reference coordinate system is required. Visual computing only needs to provide an approximately position for the manipulator end-effector, after which the connection fittings assembly task could be completed with the posture of the manipulator adjusted following the guidance by force-position control. The authors also analyze the influence of the intervention of manipulators on the very non-uniform electric field during the operation.
Findings
This strategy will be particularly useful for the hot-line assembly of connection fittings in 110kV intelligent substations as well as some assembly tasks where uncertain target position and complex contact surface such as cylindrical hole is involved.
Practical implications
This assembly strategy is tested in energized simulated experimental system. The experiment results show that the robot can replace the manual operation to complete the assembly task safely and efficiently.
Originality/value
This assembly strategy is able to achieve the assembly task of connection fittings. Unlike other peg-in-hole assembly strategy, it does not require high stability of manipulator or plane contact surface around the hole.