Operation space analysis and trajectory planning of mechanical arm in narrow space for GIS (gas insulated switchgear) inspection robot
Abstract
Purpose
The purpose of this paper is to achieve optimal climbing control of the gas-insulated switchgear (GIS) robot, as the authors know that the GIS inspection robot is a kind of artificial intelligent mobile equipment which auxiliary or even substitute human labor drive on the inner wall of the gas-insulated metal enclosed switchgear. The GIS equipment fault inspection and maintenance can be realized through the robot manipulator on the mobile platform and the camera carried on the fuselage, and it is a kind of intelligent equipment for operation. To realize the inspection and operation of the GIS equipment pipeline without blind spots, the robot is required to be able to travel on any wall inside the pipeline, especially the top of the pipeline and both right and left sides of the pipeline, which requires the flexible climbing of the GIS inspection robot. The robot device has a certain adsorption function to ensure that the robot is fully attached to the wall surface. At the same time, the robot manipulator can be used for collision-free obstacle avoidance operation planning in the narrow operation space inside the GIS equipment.
Design/methodology/approach
The above two technologies are the key that the robot completes the GIS equipment inspections. Based on this, this paper focuses on modeling and analysis of the chassis adsorption characteristics for the GIS inspection robot. At the same time, the Denavit Hartenberg (D-H) coordinate model of the robot arm system has been established, and the kinematics forward and inverse solutions of the robot manipulator system have been derived.
Findings
The reachable working space point cloud diagram of the robot manipulator in MATLAB has been obtained based on the kinematics analysis, and the operation trajectory planning of the robot manipulator using the robot toolbox has been obtained. The simulation results show that the robot manipulator system can realize the movement without collision and obstacle avoidance. The space can cover the entire GIS pipeline so as to achieve no blind area operation.
Originality/value
Finally, the GIS inspection robot physical prototype system has been developed through system integration design, and the inspection, maintenance operation experiment has been carried out in the actual GIS equipment. The entire robot system can complete the GIS equipment inspection operation soundly and improve the operation efficiency. The research in this paper has important theoretical significance and practical application value for the optimization design and practical research of the GIS inspection robot system.
Keywords
Acknowledgements
Funding: This work was supported by the State Grid Hunan Electric Power Company Maintenance Company, the 2020 Opening fund for Hubei Key Laboratory of Digital Textile Equipment (DTL2020004).
Retraction notice: The publishers of Industrial Robot wish to retract the article “Operation space analysis and trajectory planning of mechanical arm in narrow space for GIS (gas insulated switchgear) inspection robot” by Z. Pan, Y. Yan, Y. Huang, W. Jiang, C.G. Ye and H.J. Li, which appeared ahead of print, 2022.
It has come to our attention that there are concerns that the peer review process was compromised, and that as a result, the findings cannot be relied upon.
The authors of this paper would like to note that they do not agree with the content of this notice.
The publishers of the journal sincerely apologize to the readers.
Citation
Pan, Z., Yan, Y., Huang, Y., Jiang, W., Ye, G.C. and Li, H.J. (2022), "Operation space analysis and trajectory planning of mechanical arm in narrow space for GIS (gas insulated switchgear) inspection robot", Industrial Robot, Vol. ahead-of-print No. ahead-of-print. https://doi.org/10.1108/IR-09-2021-0219
Publisher
:Emerald Publishing Limited
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