Wiring Location Error Analysis and Dynamic Compensation for 10 kV High Voltage Circuit Breaker Electrical Experiment Robot

被引：0
作者：
Wang J. [1 ]
Li G. [1 ]
He S. [1 ]
Hong Z. [1 ]
Cheng Y. [2 ]
Shao H. [2 ]
机构：
[1] Foshan Supply Bureau of Guangdong Power Grid Co., Ltd., Foshan
[2] Wuhan Xindian Electrical Co., Ltd., Wuhan
来源：
Gaodianya Jishu/High Voltage Engineering | 2021年 / 47卷 / 10期
关键词：
DH coordinates; Dynamic compensation; Electrical experiments; High voltage circuit breaker; Position error; Robot wire connection;
D O I：
10.13336/j.1003-6520.hve.20201272
中图分类号：
学科分类号：
摘要：
The normal operation of robot connection and the contact performance between connection plug and fracture is directly affected by the wiring location error of 10 kV electrical test robot for high voltage circuit breaker. Consequently, the influence of the positioning error on the test connection is studied and the allowable error of the robot connection positioning is determined to be 0.1 mm based on the force analysis of the contact between the plug and the breaker. Furthermore, DH connecting rod coordinate system and kinematics equation of six-axis robot are established, and the mechanism of the influences of terminal load and ambient temperature on the positioning error of the robot are analyzed, and the influences of environmental temperature change on the kinematics parameters and terminal position of the robot are studied emphatically. Meanwhile, the linear regression equation of rotation angle and ambient temperature of each joint is established under the condition of keeping the end position of the robot unchanged. A dynamic compensation method for the robot end location error based on the ambient temperature and the deflection value of rotation angle for each joint is proposed, which can adjust the deflection value of rotation angle (temperature compensation angle) according to the change of the ambient temperature. The simulation results show that the proposed method can be adopted to effectively compensate the robot wiring positioning error caused by the change of ambient temperature, and the location error still can be controlled within 0.1 mm when the temperature difference of the environmental temperature field distribution is within ±3 ℃. The proposed method has practical engineering significance in improving the positioning accuracy and reduce the cost of circuit breaker electrical test robot. © 2021, High Voltage Engineering Editorial Department of CEPRI. All right reserved.
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页码：3642 / 3649
页数：7
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