Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745645
Hailei Wang, Hui Qi, Xinbin Zuo, Shi-you Mu, Jianxiang Li
With the movement of a high voltage live working robotic arm as the object of the research, this paper analyzes the composition of the control system of high voltage live working robotic arm. Through the study of the mathematical modeling of it, we robot arm motion control algorithm, and present the Motion control flow of robot arm. In order to validated the mode, this paper used OpenGL+Microsoft Visual Studio 2005 to simulate the algorithm. The algorithm proposed in this paper is intuitive, simple and practical, and Suitable for most of the hydraulic arm.
本文以高压带电工作机械臂的运动为研究对象，分析了高压带电工作机械臂控制系统的组成。通过对其数学建模的研究，给出了机器人手臂运动控制算法，并给出了机器人手臂的运动控制流程。为了验证该模型，本文使用OpenGL+Microsoft Visual Studio 2005对算法进行了仿真。本文提出的算法直观、简单、实用，适用于大多数液压臂。
{"title":"Design of high voltage insulated manipulator control system","authors":"Hailei Wang, Hui Qi, Xinbin Zuo, Shi-you Mu, Jianxiang Li","doi":"10.1109/CARPI.2016.7745645","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745645","url":null,"abstract":"With the movement of a high voltage live working robotic arm as the object of the research, this paper analyzes the composition of the control system of high voltage live working robotic arm. Through the study of the mathematical modeling of it, we robot arm motion control algorithm, and present the Motion control flow of robot arm. In order to validated the mode, this paper used OpenGL+Microsoft Visual Studio 2005 to simulate the algorithm. The algorithm proposed in this paper is intuitive, simple and practical, and Suitable for most of the hydraulic arm.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121415353","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745649
Mingwei Hu, Hongguang Wang, Yong Chang, Xinan Pan
X-ray digital imaging detection system has been successfully applied to visual non-destructive detecting of gas insulated switchgear (GIS) equipment. Manual installing and positioning of this system is risky, inefficient and labor-intensive. This paper presents a non-destructive detecting mobile platform which is used to carry the detecting system to accomplish testing task. The requirements and the working process of this mobile platform are analyzed. The structure of two mobile manipulators which are included in this platform is presented. The kinematics model of manipulator is established correspondingly. Under the actual conditions, the rigid body dynamics is simulated by Solidworks Motion module, which provides references for structure design and motor selection. The non-destructive detecting mobile platform, which is introduced in this paper, has such advantages as high stability, high quality of detection and strong adaptability.
{"title":"Design and analysis of a non-destructive detecting mobile platform for gas insulated switchgear","authors":"Mingwei Hu, Hongguang Wang, Yong Chang, Xinan Pan","doi":"10.1109/CARPI.2016.7745649","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745649","url":null,"abstract":"X-ray digital imaging detection system has been successfully applied to visual non-destructive detecting of gas insulated switchgear (GIS) equipment. Manual installing and positioning of this system is risky, inefficient and labor-intensive. This paper presents a non-destructive detecting mobile platform which is used to carry the detecting system to accomplish testing task. The requirements and the working process of this mobile platform are analyzed. The structure of two mobile manipulators which are included in this platform is presented. The kinematics model of manipulator is established correspondingly. Under the actual conditions, the rigid body dynamics is simulated by Solidworks Motion module, which provides references for structure design and motor selection. The non-destructive detecting mobile platform, which is introduced in this paper, has such advantages as high stability, high quality of detection and strong adaptability.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128050821","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745613
Jian Li, Jianjun Su, Mengchao Fu, Shou-yin Lu, Xu Dong
220kV open type substation equipment's surface will readily accumulate industrial and natural filthy when they expose to outdoors in a long-term, and this situation will lead to the phenomenon of flashover. The Substation Water Washing Robot in this paper can transport the high pressure water jet equipment to the operating position by insulated telescopic boom, and then carry out water washing operation to substation insulators, surge arresters, electric equipment casing and others with the high purity water through RO reverse osmosis technology. Robot can achieve a barrier-free travel in the area of substation outdoor road and grass or gravel road in the facilities religion with crawler mobile chassis; Using multistage combination insulation and insulated telescopic lifting arm structure to improve the stability of water flushing operation; Using wireless remote control to effectively reduce the intensity of manual work, improving the safety of operation and ensuring the operation safety.
{"title":"Research and application of the Water Washing Robot with hot-line working used in 220kV open type substation","authors":"Jian Li, Jianjun Su, Mengchao Fu, Shou-yin Lu, Xu Dong","doi":"10.1109/CARPI.2016.7745613","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745613","url":null,"abstract":"220kV open type substation equipment's surface will readily accumulate industrial and natural filthy when they expose to outdoors in a long-term, and this situation will lead to the phenomenon of flashover. The Substation Water Washing Robot in this paper can transport the high pressure water jet equipment to the operating position by insulated telescopic boom, and then carry out water washing operation to substation insulators, surge arresters, electric equipment casing and others with the high purity water through RO reverse osmosis technology. Robot can achieve a barrier-free travel in the area of substation outdoor road and grass or gravel road in the facilities religion with crawler mobile chassis; Using multistage combination insulation and insulated telescopic lifting arm structure to improve the stability of water flushing operation; Using wireless remote control to effectively reduce the intensity of manual work, improving the safety of operation and ensuring the operation safety.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132477828","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745615
Xin Zhang, Guoxing Wu, Peng Wang, Qiang Chen
New device for hot-line sweeping of post insulators in substations is introduced. The installation is composed of a sweeping actuator, an insulated transmission mechanism, a steering mechanism, a hydraulic driving device, anti dropping device, hydraulic mechanical arm, telescopic arm and a moving chassis insulation.. And can complete the sweeping work of insulator under the condition of hot-line.
{"title":"The research and design of automatic sweeping device of substation post insulator","authors":"Xin Zhang, Guoxing Wu, Peng Wang, Qiang Chen","doi":"10.1109/CARPI.2016.7745615","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745615","url":null,"abstract":"New device for hot-line sweeping of post insulators in substations is introduced. The installation is composed of a sweeping actuator, an insulated transmission mechanism, a steering mechanism, a hydraulic driving device, anti dropping device, hydraulic mechanical arm, telescopic arm and a moving chassis insulation.. And can complete the sweeping work of insulator under the condition of hot-line.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130958346","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745653
Tongyi Han, Xiao Yang, Q. Fang, Jianxiang Li, Jinlong Zhao, D. Huang, Jina Cao
In order to further improve the performance of sliding mode variable structure control for sensorless control of permanent magnet synchronous motor (PMSM). Analyze the problems of singularity, chattering, and slow convergence of the terminal sliding mode control. A new reaching law based on the nonsingular terminal sliding mode control is proposed, the advantages of the reaching law and nonsingular terminal sliding mode was combined. It not only can solve the problem of the singularity of the terminal sliding mode, but also improve the reaching performance when system state is far away from sliding mode surface. The novel method can shorten the convergence time, and weaken the system chattering. Simulation results show that the design method can effectively improve the dynamic performance and robustness of the system.
{"title":"Observer-based sensorless control of permanent magnet synchronous motor for electrical vehicle","authors":"Tongyi Han, Xiao Yang, Q. Fang, Jianxiang Li, Jinlong Zhao, D. Huang, Jina Cao","doi":"10.1109/CARPI.2016.7745653","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745653","url":null,"abstract":"In order to further improve the performance of sliding mode variable structure control for sensorless control of permanent magnet synchronous motor (PMSM). Analyze the problems of singularity, chattering, and slow convergence of the terminal sliding mode control. A new reaching law based on the nonsingular terminal sliding mode control is proposed, the advantages of the reaching law and nonsingular terminal sliding mode was combined. It not only can solve the problem of the singularity of the terminal sliding mode, but also improve the reaching performance when system state is far away from sliding mode surface. The novel method can shorten the convergence time, and weaken the system chattering. Simulation results show that the design method can effectively improve the dynamic performance and robustness of the system.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133579075","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745644
Hui Qi, Hailei Wang, Jianxiang Li, Xinbin Zuo, Mengchao Fu
In this paper, the high voltage between the insulation design and simulation of mechanical arm was studied, and analysis of the mechanical arm torque, speed and angular acceleration of each joint, etc. Simulation model is established by using solidworks. Simulation model is imported to ansys, the finite element analysis on the composition of the material, mechanical arm calculation to improve the performance and parameters, the design of the mechanical arm to shorten the development cycle.
{"title":"Design and simulation of mechanical arm with high voltage operation insulation","authors":"Hui Qi, Hailei Wang, Jianxiang Li, Xinbin Zuo, Mengchao Fu","doi":"10.1109/CARPI.2016.7745644","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745644","url":null,"abstract":"In this paper, the high voltage between the insulation design and simulation of mechanical arm was studied, and analysis of the mechanical arm torque, speed and angular acceleration of each joint, etc. Simulation model is established by using solidworks. Simulation model is imported to ansys, the finite element analysis on the composition of the material, mechanical arm calculation to improve the performance and parameters, the design of the mechanical arm to shorten the development cycle.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"59 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120864301","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745628
Henrik Brockhaus, A. Claudi
For the monitoring of high-voltage-overhead-lines, automated robotic systems increasingly come to use. Regardless of whether this is set to linecrawler-technology or aerial platforms, Global Navigation Satellite Systems (GNSS) are used for navigation and geo-referencing on nearly all of these robotic systems. In order to test the function and quality of GNSS-receivers and -antennas at these environmental conditions with increased electric and magnetic field-strengths in a laboratory environment, in this contribution test-benches are designed to reproduce the field-strengths. Therefor potential interference-mechanisms are identified and defined, advantages and disadvantages of indoor- and outdoor-test-benches are balanced, a reference-transmission-line is defined, expectable field-strengths in the vicinity of the transmission-line are simulated and finally the test-geometries are determined.
{"title":"Development of test-benches for GNSS-components in strong electric and magnetic fields","authors":"Henrik Brockhaus, A. Claudi","doi":"10.1109/CARPI.2016.7745628","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745628","url":null,"abstract":"For the monitoring of high-voltage-overhead-lines, automated robotic systems increasingly come to use. Regardless of whether this is set to linecrawler-technology or aerial platforms, Global Navigation Satellite Systems (GNSS) are used for navigation and geo-referencing on nearly all of these robotic systems. In order to test the function and quality of GNSS-receivers and -antennas at these environmental conditions with increased electric and magnetic field-strengths in a laboratory environment, in this contribution test-benches are designed to reproduce the field-strengths. Therefor potential interference-mechanisms are identified and defined, advantages and disadvantages of indoor- and outdoor-test-benches are balanced, a reference-transmission-line is defined, expectable field-strengths in the vicinity of the transmission-line are simulated and finally the test-geometries are determined.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127445577","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745612
Ronghui Huang, Xin Zhang, Weizhao Huang, Zhen-Lin Wang
This paper provides a substation live working robot system, which consists of mobile insulation lift platform, six degree of freedom hydraulic manipulator, master control system and live working tools. It can assist or replace the manual to complete some special live-working, such as insulator cleaning, RTV spraying, Insulator detection, Nitrogen flushing. The successful application of the robot provides the guarantee for the safe operation of the equipment in the substation.
{"title":"Substation live working robot system","authors":"Ronghui Huang, Xin Zhang, Weizhao Huang, Zhen-Lin Wang","doi":"10.1109/CARPI.2016.7745612","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745612","url":null,"abstract":"This paper provides a substation live working robot system, which consists of mobile insulation lift platform, six degree of freedom hydraulic manipulator, master control system and live working tools. It can assist or replace the manual to complete some special live-working, such as insulator cleaning, RTV spraying, Insulator detection, Nitrogen flushing. The successful application of the robot provides the guarantee for the safe operation of the equipment in the substation.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126672859","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/CARPI.2016.7745639
Lin Wang, Hongguang Wang
Inspection of faulty insulators is an effective and practical way to protect the power transmission lines from accidental power blackouts caused by aging insulators. The traditional manual inspection using a live-line tester is labor-intensive, dangerous, inefficient and inaccurate. This paper presents a review of insulator inspection robots and classifies the robots into three categories based on the locomotion mechanism. The structures and details of some typical robot prototypes are described. Moreover, some vital techniques such as mechanical design, control system and electromagnetic compatibility are discussed. Finally, the developing trends and the application perspective of the insulator inspection robots are presented.
{"title":"A survey on insulator inspection robots for power transmission lines","authors":"Lin Wang, Hongguang Wang","doi":"10.1109/CARPI.2016.7745639","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745639","url":null,"abstract":"Inspection of faulty insulators is an effective and practical way to protect the power transmission lines from accidental power blackouts caused by aging insulators. The traditional manual inspection using a live-line tester is labor-intensive, dangerous, inefficient and inaccurate. This paper presents a review of insulator inspection robots and classifies the robots into three categories based on the locomotion mechanism. The structures and details of some typical robot prototypes are described. Moreover, some vital techniques such as mechanical design, control system and electromagnetic compatibility are discussed. Finally, the developing trends and the application perspective of the insulator inspection robots are presented.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132935802","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
According to the requirements of inspection tasks and characteristics of obstacles on 110kV power transmission lines, a novel inspection robot mechanism which adopts unfolding mechanism and the gantry structure is presented. Through altering the unfolding mechanism, the robot can navigate the obstacle quickly. The gantry structure can raise the stiffness of the mechanism. Based on the constraints of the specific features of the electric power transmission and the context of power utility operation, the geometric parameters are customized. The navigation of suspension clamp is simulated, and the structure analysis is studied. A prototype has been developed, and the field experiments has been carried out. The simulation results and field experimental results demonstrate that the mechanism has such characteristics as good motion stability, strong loading capacity and excellent obstacle negotiation capability.
{"title":"Geometric design of an inspection robot for 110kV power transmission lines","authors":"Xiang Yue, Hongguang Wang, Yingchun Yang, Yong Jiang","doi":"10.1109/CARPI.2016.7745636","DOIUrl":"https://doi.org/10.1109/CARPI.2016.7745636","url":null,"abstract":"According to the requirements of inspection tasks and characteristics of obstacles on 110kV power transmission lines, a novel inspection robot mechanism which adopts unfolding mechanism and the gantry structure is presented. Through altering the unfolding mechanism, the robot can navigate the obstacle quickly. The gantry structure can raise the stiffness of the mechanism. Based on the constraints of the specific features of the electric power transmission and the context of power utility operation, the geometric parameters are customized. The navigation of suspension clamp is simulated, and the structure analysis is studied. A prototype has been developed, and the field experiments has been carried out. The simulation results and field experimental results demonstrate that the mechanism has such characteristics as good motion stability, strong loading capacity and excellent obstacle negotiation capability.","PeriodicalId":104680,"journal":{"name":"2016 4th International Conference on Applied Robotics for the Power Industry (CARPI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129430015","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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