Design And Dynamic Motion Planning Of Manipulator For Electricity Testing And Installation Of Grounding Wire

When the high voltage equipment needs power outage,electricity test and maintenance,the installation of grounding wire will be an important step among it.When grounding wire is installed manually,the safety of operators will be threatened due to emergency situations such as working at high altitude and electricity leakage.On the one hand,the robot of electricity testing and grounding wire installation can replace the operator to work under high altitude and high pressure environment to ensure the safety of personnel.On the other hand,it can complete the tasks of electricity testing and installing grounding wire more accurately,quickly and efficiently.Firstly,this paper analyzes the field environment of electricity testing and grounding wire installation,puts forward the task requirements of electricity testing and grounding wire installation manipulator,determines what the corresponding functions should the manipulator have when completing the tasks of electricity testing,grounding wire installation and grounding wire removal,and plans the task flow when the manipulator completes related tasks.According to the operating environment of the manipulator,the process of electricity testing,the grounding wire installation,and the problems that may occur in the process of electricity testing and grounding wire installation,the types of each joint in the manipulator are determined.Moreover,the joints are analyzed and optimized,so that the configuration of the manipulator is finally determined.According to the configuration of the manipulator,the whole structure of the manipulator is designed in detail,including the joint structure,end-effector structure,gripper structure and transmission mode.Based on the limit position reached by the manipulator arm,the center of mass position is established by using 3d software,the limit force/torque of each joint is calculated,and the model of the dc servo motor is determined.D-H four parameter method is used to model the kinematics of the manipulator,including forward kinematics analysis and inverse kinematics analysis.The kinematics equation of the manipulator is determined.The dynamic model of the manipulator is built by Lagrange method,then the dynamics equation of the joints in the manipulator is determined,so that the relation between the force/moment of each joint in the manipulator and the displacement,velocity and acceleration is obtained.According to the motion range of each joint in the manipulator arm,the joint correlation constraints are determined.Then an non-impact motion planning method is proposed,obtaining the relation curves of displacement,velocity and acceleration of each joint with time.According to the obtained non-impact motion planning curve,combined with the dynamics equation of each joint,the control force/torque of each joint is obtained through fitting.On the one hand,it verifies whether the motor selection is appropriate.on the other hand,it provides an input function for the dynamic simulation of each joint in the manipulator with relevant software.According to the simulation results,the correctness of the dynamic non-impact motion planning method is verified,and the design of the manipulator structure is further improved.Finally,according to the confirmed design and manufacture of the prototype in the electricity testing and grounding wire installation manipulator structure,the electricity testing and grounding wire installation simulation test is firstly carried out in the laboratory,and then the simulation acceptance test is carried out on the simulation site.Additionally,the electricity testing and grounding wire installation test are carried out on the actual site.The prototype manipulator can complete the tasks of electricity testing,grounding wire installation and grounding wire removal,which verified the rationality and correctness of the structure design in the manipulator and the method based on dynamic motion planning.