Development Of Quadruped Wall-climbing Robot For GIS Internal Fault Detection

With the development of social economy and technology,the power demand of the whole society is increasing.Gas insulated metal enclosed switchgear(GIS)is widely used in the power industry because of its compact structure and high reliability.After a long time of work,sudden faults will occur in GIS.Maintenance personnel need to disassemble GIS equipment and find out the location and manifestation of internal faults.The traditional detection method is carried out by hand-held special detection equipment,which has some problems such as limited detection range,blind area,low efficiency,inconvenient operation and so on.As a result,it is difficult to carry out the follow-up troubleshooting.In order to realize the efficient detection of GIS internal fault,a quadruped wall-climbing robot for GIS internal detection is developed to replace the hand-held special detection equipment.Through the analysis of the complex environment of GIS,the task of robot crawling and detection is formulated,and the structural requirements of small size and light weight are put forward.Based on this,the robot structure is designed: the mobile mode,adsorption mode and joint driving mode of robot are analyzed and selected;the configuration of single leg mechanism,the layout of the joints of four legs,the length of linkages and 4-SRRR robot are determined based on mechanism and kinematics The three-dimensional model of the robot is established,and its static stiffness is analyzed by finite element method;the joint torque and foot end force of the robot under different postures are estimated by semi analytical method,and the joint motor type and adsorption structure are determined based on the maximum joint torque and foot end force.In order to realize the remote control of the robot,a robot three-party control system composed of remote controller,airborne controller and auxiliary controller is established: the main functions of each controller are determined,and the wireless communication network and three-party communication protocol are built for the three-party controller;the hardware system of the onboard controller including bus actuator and IMU is built;the vacuum adsorption control mechanism is analyzed,Based on this,the hardware system of auxiliary controller is built,and its software is written;the remote controller of human-computer interaction is built.Establish the robot controller architecture and write the onboard controller software:establish a four-level hybrid architecture for the robot;transplant the Free RTOS real-time operating system to the onboard controller,and write the onboard controller system initialization program;based on the behavior of the finite state machine(FSM)Modeling method,establish the robot’s 3-level FSM;write the joint servo module program and IMU module program.In order to realize the robot crawling in the pipeline with different radius and posture,a kind of robot static gait suitable for pipeline crawling is planned.Aiming at the problems that the robot crawls in the pipeline,such as abnormal gait phase,unable to absorb the foot,unknown foot touching time,gait parameters can not adapt to the changes of pipeline radius and posture,a method based on the position and posture perception of the robot in the pipeline is proposed This paper proposes an adaptive adjustment strategy of static gait in pipeline,and describes in detail the real-time gait phase detection,single leg touch wall sensing,gait parameter adjustment and gait parameter self iteration method.The gait verification experiments of the robot in the pipeline is carried out,and the experiments show that the robot can achieve the crawling gait in GIS pipeline;The horizontal and vertical pipe crawling experiments are carried out,and the experimental results show that the robot can achieve circumferential and axial crawling in three different radius horizontal and vertical pipes.The above experiments prove the rationality of the robot structure and the tripartite control system,the applicability of the planned static gait and the effectiveness of the adaptive adjustment strategy.At the same time,it also proves that the robot can be competent for the task of GIS internal fault detection.