10 kV高压断路器电气试验机器人接线定位误差分析及动态补偿

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

10k V高压断路器电气试验机器人接线定位误差直接影响机器人接线动作的正常进行以及接线插头与端口的接触性能。为此,在接线插头与断路器端口梅花触头受力分析的基础上,研究了接线定位误差对测试接线的影响,并确定了机器人接线定位允许误差为0.1mm。建立了六轴机器人Denavit-Hartenberg(DH)连杆坐标系和运动学方程,分析了机器人末端负载和环境温度对接线定位误差的影响机理,重点研究了环境温度变化对机器人运动学参数及末端位姿的影响;建立了保持机器人末端位姿不变条件下各关节旋转角与环境温度的线性回归方程,并提出了基于环境温度和各关节旋转角偏移值的机器人末端定位误差动态补偿方法,即根据环境温度的变化对各关节旋转角偏移值(温度补偿角)进行调整。仿真试验结果表明:所提方法可有效补偿环境温度变化引起的机器人接线定位误差,且环境温度场分布温差在±3℃时仍可将接线定位误差控制在0.1mm以内。所提方法对提高断路器电气试验机器人定位精度及降低成本费用具有实际工程意义。

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.