Design And Research On Cutting Force Control Algorithm Of Robot Peeler For Power Distribution Network

One of the main role of the power distribution robot is to peel the insulation layer of the power transmission wire and leading current wire in the field of the power distribution network,further to accomplish the parallel connection between the leading current wire and main high-voltage,finally to finish distributing the high-voltage current.Considering that the wire core is easily damaged and the insulation residue is retained the surface of wire,which would lead to low power distribution effect and seriously affect the power supply problem,so we designed a compact end-peeler that is easily operated and further proposed a cutting force tracking control algorithm based on impedance to peel the insulation flexibly and non-destructively,thereby to improve the power distribution quality of the power distribution robot.This paper mainly focus on the research from the following directions:（1）Firstly,considering the contemporary power distribution peeling mechanism is bulky and poor stability,which is difficult to operate flexibly in a narrow space and seriously affect the peeling efficiency,so a novel peeler with a compact structure has been designed that can peel the wire insulation in a spiral motion and can better solve the limitation of working space,and be carried out finite element mechanical analysis on the key structure“quasi screw structure”in workbench,we obtained the maximum static stress of the screw isσ_max=171.13Mpa（28）σ_45#^[H],which demonstrated the rationality of the structural design to some extent.（2）Secondly,we analyzed the peeling movement principle of the designed peeler,and chose the Quasi-screw nut structure and semi-cylindrical gear to be the main transmission structure,then the 3D structure was imported into ADAMS to simulate the peeling movement in an actual working condition,the simulated results show the axial moving speed of the peeler is 3.75cm/s and the movement is stable during the peeling process.（3）Considering depending on mechanical structure cannot effectively solve the problem that the wire core is easily damaged,we has proposed a cutting force tracking control algorithm based on impedance control,which is suitable for the end-peeler,and the Recursive Least Square method（RLS）also has been introduced into impedance control algorithm to online identify the stiffness parameters between wire core and wire insulation.When the control system is unstable,the forgetting factorλis introduced and the adjustment principle of forgetting factor also is further explained.Then the RLS impedance force tracking control algorithm mode and impedance control mode has been built in Matlab/Simulink,and further been simulated contrastively about the dynamics of the two mode under a condition with variable environmental stiffness,which shown that the RLS parameter identification effect is the best when takingλ=0.975 during the environmental stiffness changes suddenly,and can peel the wire flexibly.（4）Finally,we assembled the processed end-peeler with the end flange of UR10e collaborative 6-axis robot to perform high-voltage wire peeling experiment,the experimental results show that there are no obvious scratches on the surface of the wire core and no residues of the insulation layer after peeling the wire,which demonstrates the peeling effect is good,and proves the rationality of the peeler structure design and the stability of the proposed cutting force tracking control algorithm.