Research on mechanism configuration and coordinated control for power distribution network live working robot
ISSN: 0143-991x
Article publication date: 14 April 2020
Issue publication date: 14 April 2020
Abstract
Purpose
In the long-term network operation, the power distribution network will be subjected to the effects of ultra-high voltage, strong electromagnetic interference and harsh natural environment on the power system, which will lead to the occurrence of different faults in the distribution network and directly affect the normal operation of the power grid.
Design/methodology/approach
The purpose of this study is to solve the problems of labor intensity, high risk and low efficiency of distribution network manual maintenance operation, this paper proposed a new configuration of the live working robot for distribution network maintenance, the robot is equipped with dual working arms through the mobile platform, which can realize the coordination movement, the autonomous reorganization and replacement of the end tools, respectively, so as the robot power distribution maintenance function such as stripping, trimming, wiring and the operation control problem of the distribution network-robot with small arms and in small operation space can be realized.
Findings
To effective elimination or reduce the adverse effects of the internal forces in the closed chain between the working object and manipulator under the typical task of the 10 kV distribution network, this paper has established the robot coordinated control dynamics model in the closed-chain between the dual-working object and proposed the dynamic distribution method of closed-chain internal force and the effectiveness has been proved by simulation experiments and 10 kV field operation.
Originality/value
The force-position hybrid control can realize the mutual compensation of force and position so as to effectively reduce the internal force in the closed chain. Finally, the engineering practicality of the method is verified by field operation experiment, the effective implementation of this control method greatly improves the robot working efficiency and the operation reliability, the promotion and application of the control method have great theoretical and practical value and maintenance management system, so as to achieve automation of electric.
Keywords
Acknowledgements
Funding: This study was supported by the science and technology project of the state grid corporation “Development of live working robots for distribution network based on weak rigidity and large delay master-slave control algorithm” (5216A018000A); Intelligent live working technology and equipment (Robot) Hunan province key laboratory open funding (2019KZD1005), 2019 opening fund for Hubei key laboratory of digital textile equipment (DTL2019010) and China textile industry federation science and technology guiding project (Project ID:2019053).
Retraction notice: The publishers of Industrial Robot wish to retract the article “Research on mechanism configuration and coordinated control for power distribution network live working robot” by Y. Yan, W. Jiang, D. Zou, W. Quan, H.J. Li, Y. Lei and Z.f. Zhou, which appeared in Volume 47, issue 3, 2020.
It has come to our attention that there are concerns that the peer review process may have been compromised, and that as a result, the findings may not 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
Yan, Y., Jiang, W., Zou, D., Quan, W., Li, H.J., Lei, Y. and Zhou, Z.f. (2020), "Research on mechanism configuration and coordinated control for power distribution network live working robot", Industrial Robot, Vol. 47 No. 3, pp. 453-462. https://doi.org/10.1108/IR-02-2020-0036
Publisher
:Emerald Publishing Limited
Copyright © 2020, Emerald Publishing Limited