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Hot-line assembly strategy for connection fittings in 110kV intelligent substation

Mingdong Tang (Shanghai Jiao Tong University, Shanghai, China)
Youlin Gu (Shanghai Jiao Tong University, Shanghai, China)
Shigang Wang (Shanghai Jiao Tong University, Shanghai, China)
Qinghua Liang (School of Mechanical Engineering and Power Engineering, Shanghai Jiao Tong University, Shanghai, China)
Xiaoxi Wang (Hubei Electric Power Company, State Grid Corporation of China, Wuhan, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 14 August 2018

Issue publication date: 29 August 2018

126

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.

Keywords

Citation

Tang, M., Gu, Y., Wang, S., Liang, Q. and Wang, X. (2019), "Hot-line assembly strategy for connection fittings in 110kV intelligent substation", Industrial Robot, Vol. 45 No. 4, pp. 539-548. https://doi.org/10.1108/IR-02-2018-0030

Publisher

:

Emerald Publishing Limited

Copyright © 2018, Emerald Publishing Limited

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