Research On System Design And Trajectory Planning Of Live-Working Robot

Live-working robot is the development and trend of the electrical equipment maintenance in the smart grid.It can effectively improve the repairing efficiency and economic effect for the intelligent substation,and greatly reduce the accident rate and the casualty rate.With the promotion of new generation of intelligent substation in China,the demand for liveworking robot has increased significantly,so it is necessary to carry out relevant technical research on live-working robot.To fulfill the electrical maintenance tasks of a 110 kV intelligent substation isolation circuit breaker,we do research on system design and trajectory planning of live-working robot,and have developed the experimental prototype.Summarily speaking,the detailed research content is as follows:Firstly,the field environment of a smart substation and the object of live operation are briefly analyzed.Based on the system design requirements of the robot,the whole structure of the robot and the special tools are also provided.In order to ensure the safety and order of the entire live operation process,the operating procedure of the live-working robot is established for the field operator to follow.Secondly,we used the D-H parameterization method to establish a kinematical model for KUKA manipulator arm of operating platform,and created the corresponding coordinate system,by which we can obtaind the connecting rod parameters.The positive solution of the kinematics of the manipulator is obtained by using the homogeneous transformation matrix.The inverse solution of the kinematics of the manipulator is obtained by the closed analytical method,and the correctness of the expression is verified by using matlab robotic toolbox.On this basis,the kinematic model of the robot operating platform is established,and the position of the target point in the world coordinate system is transformed into the position of the end coordinate system of the manipulator relative to the base coordinate system.Then,the angle corresponding to each joint when the robot reaches the target position can be worked out by using inverse kinematics,which is the foundation of the trajectory planning.Thirdly,in order to ensure that the live-working robot can operate safely in the environment of high voltage substation,we analyzed the safe space according to the operation flow of the robot,and proposed a Monte Carlo method with additional constraints to solve the relevant safe working space.At the same time,in order to improve the operating space of the robot,a planning algorithm about robot base position is proposed to control the displacement of the slide,which takes the robot arm reachability and the phase safety as the constraint condition,and takes the minimum energy consumption of the manipulator as the evaluation index.Finally,we proposed a time-optimal trajectory planning algorithm in joint space based on the previous research.The path points under Cartesian space are transformed into joint angular position sequences under joint space,and trajectory planning is carried out by using cubic spline interpolation to obtain smooth and continuous trajectory.The adaptive genetic algorithm is used to optimize the polynomial interpolation time,and the optimal time for robot to complete the trajectory under the kinematic constraints is obtained.The simulation experiment of the robotic operation platform is carried out,and the validity of the study on the system design and trajectory planning of live-working robot is verified.