In this paper, a structure design scheme of intelligent replacement device for the ultrahigh voltage (UHV) converter transformer valve-side bushing is put forward, and its size is determined according to the actual size of domestic converter station valve hall and UHV converter transformer valve-side bushing. Moreover, the weak links in its working state are analyzed by finite element method to ensure the safety and reliability of the structure. Based on the spinor theory, the forward kinematics and Jacobian matrix model of the manipulator are established, and the analytical solution of inverse kinematics is derived. In order to analyze the accuracy of the intelligent replacement manipulator for the UHV converter transformer valve-side bushing, considering that the end actuator of the robot arm is under heavy load, the absolute positioning accuracy and repeated positioning accuracy are analyzed. In addition, the corresponding error model is established, the least square method is proposed to identify the error model, and the influence of the error caused by the load on the repetition accuracy is analyzed. Finally, the whole process simulation in ROS provides data support for the calculation of repetitive precision and verifies the feasibility of the intelligent replacement device for the UHV converter valve-side bushing.
Parameter Calibration on Replacement Manipulator for UHV Valve-Side Bushing Based on Spinor Theory
