Abstract
This paper presents the design of a novel radius-variable-gripper (RVG) for use as end-effector of high-voltage hot-line cleaning robot (HVCR). A eight-bar linkage mechanism is proposed to obtain the aim of 1-dof acutuation. According to the shape of insulators, the dimension design and kinematic analysis of RVG have been carried out. The optimization is performed to locate the joint points of arm segments, on which the brushes are mounted, approximately on the position circles in the whole opening-and-closing process of RVG. The prototype has been given finally, and it is showed that RVG is feasible to this special application.
Highlights
The contamination flashover of high voltage insulators is one of the severest threats to the safe operation of power systems
The end-effector of HVCR is a kind of radius-invariable-gripper(RIVG), which can be used to clean the columniform insulator effectively
Reconfiguration of the eight-bar linkage Using the optimal results showed in table 2 to reconfigurate all the components of the eight-bar linkage, the optimal mechanism will operate as shown in the simulation of Fig
Summary
The contamination flashover of high voltage insulators is one of the severest threats to the safe operation of power systems. Cleaning high voltage insulators periodically is the only and effective way to greatly decrease the probability of contamination flashover. With respect to the different high voltage devices, the insulators have distinct external shapes and dimensions, such as columniform(e.g. arrester in (a)) and coniform(e.g. breaker in (b)). The end-effector of HVCR is a kind of radius-invariable-gripper(RIVG), which can be used to clean the columniform insulator effectively. The second point, in order to clean the columniform insulators with different radius, the operator needs to change the end-effector frequently. These two disadvantages make the cleaning operation rather inconvenient and inefficient
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