摘要
针对220kV变电站六氟化硫断路器气体泄漏的检测作业过程,以检测断路器圆周罐体为任务需求设计一种检测机械臂。首先通过分析六氟化硫断路器检测环境和检测内容,提出四种检测机械臂构型并完成检测机械臂的尺度综合;其次采用D-H方法建立以关节角为变量的检测机械臂运动学模型,通过蒙特卡洛法计算检测机械臂的工作空间;最后在工作空间中规划对六氟化硫断路器罐体的检测路径,通过Matlab进行轨迹仿真,分析各个关节的角度与速度变化趋势。通过对检测机械臂的仿真和实验,表明本文设计的检测机械臂能够有效稳定地完成六氟化硫断路器罐体的气体泄漏检测作业。
According to the detection process of SF6 circuit breaker in 220 kV substation,a detection manipulator is designed to detect the peripheral tank body of the circuit breaker.Firstly,by analyzing the detection environment and content of SF6 circuit breaker,four types of detection arm configuration are proposed and the dimension synthesis of detection arm is completed.Secondly,the D-H method is used to establish the kinematic model of the manipulator with joint angle as the variable,and the working space of the manipulator is calculated by Monte Carlo method.At last,the paper constructs the detection path planning of SF6 circuit breaker tank in the working space,carries on the track simulation through MATLAB simulation,analyzes the angle and speed change trend of each joint.Through the simulation and experiment of the detection arm,it shows that the detection arm designed in this paper can effectively and stably complete the detection of SF6 circuit breaker tank.
作者
陈梁远
郭丽娟
唐彬
张玉波
CHEN Liangyuan;GUO Lijuan;TANG Bin;ZHANG Yubo(Electric Power Research Institute of Guangxi Power Grid Co.,Ltd,Nanning 530000,China)
出处
《沈阳理工大学学报》
CAS
2020年第3期88-94,共7页
Journal of Shenyang Ligong University
基金
中国南方电网公司重点科技项目(GXKJXM20160052)。
关键词
六氟化硫断路器
机械臂
构型分析
轨迹规划
SF6 circuit breaker
inspection manipulator
configuration analysis
trajectory planning
