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A novel 10 kV high-voltage cable stripping robot’s mechanism design and analysis

Published online by Cambridge University Press:  08 May 2023

Jun Zhong Open the ORCID record for Jun Zhong [Opens in a new window] ,
Zhichao Wang ,
Shaoguang Hu  and
Zhenfeng Han
Jun Zhong*
Affiliation:
College of Mechanical & Electrical Engineering, Hohai University, Changzhou, China
Zhichao Wang
Affiliation:
College of Mechanical & Electrical Engineering, Hohai University, Changzhou, China
Shaoguang Hu
Affiliation:
College of Mechanical & Electrical Engineering, Hohai University, Changzhou, China
Zhenfeng Han
Affiliation:
HRG Institute (Hefei) of International Innovation, Hefei, China
*
Corresponding author: Jun Zhong; Email: zhongjun@hhu.edu.cn
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Abstract

A 10 kV distribution network is critical for ensuring power supply to residents and factories. The number of power maintenance operations is rapidly increasing, and aerial cable stripping is a significant branch of these routine maintenances. High-voltage cable stripping, on the other hand, is mostly done manually, which is inefficient and poses serious security risks. As a result, this paper proposes an automatic wire stripping robot for use in a 10 kV power grid. The mechanical structure of the stripping robot is designed for installation on the insulating rod based on the working environment of 10 kV overhead cables. The robot was subjected to electromagnetic field simulation, modal analysis, and rigid-flexible coupling analysis. Finally, the robot prototype is built, and the PID controller is designed. Stripping tests are performed on a cable with a cross-sectional area of 95, 120, 150, 240, and 300 mm2, and the results are satisfactory.

Keywords

cable stripping robothigh-voltage linefinite element analysiselectromagnetic shieldingrigid-flexible coupling simulation
Type
Research Article
Information
Robotica , Volume 41 , Issue 9 , September 2023 , pp. 2605 - 2624
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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