Design of a 4-DOF Manipulator for GIS Detection

A 4-DOF manipulator for Gas Insulated Switchgear (GIS) detection is proposed in this paper. Firstly, the parameters of the structure dimension and the global flexibility are used to determine the configuration by comparing the characters of all kinds of joints configurations. After that, a mathematical model for optimal design of the mechanism of the manipulator is derived by considering the parameters named force operational degree, acceleration and flexibility. The two main linkage's dimension of the manipulator is obtained by using the Optimal Calculation Module of MATLAB and the performance of the manipulator is simulated at last.