Structure Design And Optimization Of Manipulator For GIS Detection

As energy pillar,power grid plays an irreplaceable role in social development now,which has close relationship with the stable development of society.It has an important meaning to detect the safe of the distribution switch station,which is closely connected with the users.There are hundreds of gas insulated metal enclosed switches in Yunnan power grid,and they designed a set of digital imaging system to detect them.However,the X ray generator has radiation property,so the traditional manual lifting equipment has great harm to the workers,and the labor intensity is big and the efficiency is greatly reduced.It has great meaning and development prospect to design mobile robots with mobile and operation ability.It can assist the workers through remote operation to detect gas insulated switch,thus staff can reduce greatly the risk being radiated and improve working efficiency.This paper expounds the importance of the mobile manipulator with mobile and operation ability,analyzes and compares the researches in the manipulator of lifting digital imaging detection system and the joint type robot arm of domestic and foreign,then sums up the detection environment characteristics and designs the mechanism.In this paper,the forward kinematics and the working space is obtained by Monte Carlo method.,which verifies the correctness of the design.Then according to the detection work environment and task requirements,determine the operation procedure,joint type,degrees and performance constraints detection of manipulator,to complete the design of manipulator mechanism.The manipulator mechanism analysis verifies the correctness of the configuration through positive solution of kinematics and Monte Carlo method.Secondly,the structure design of the manipulator is analyzed,mainly the rod section shape.The hollow rectangular section is more suitable for the project.According to the load requirement of moving platform,design the initial size of the connecting rod section size.Then the 3D model of manipulator is designed by SolidWork.Through the finite element analysis method,optimize the structural of manipulator connecting rod,including size,topology and shape.Finally,simulation and analysis of dynamics of the manipulator in Adams,and verify the feasibility of the scheme by the joint torque;and the mechanical arm of the modal analysis,the folding and unfolding of the two states,which lays the foundation for further research and use.In summary,this paper carries out the equipment lifting digital imaging system research for gas insulated switch detection.Design and analyze mechanism and structure of manipulator.The paper gets the results of the correctness and effectiveness of the virtual prototype in the end.