Design of the Opening and Closing Manipulator for Portable High Voltage Ring Main Unit

In view of the high risk and difficulty of manual opening and closing operation of the old semi-automatic high-voltage ring network cabinet, combined with the installation environment of the high-voltage ring network cabinet and the actual situation of the opening and closing knob of the ring network cabinet, a portable four degree of freedom mechanical arm for remote control of mobile phone APP is designed. First of all, the mechanical arm design index is formulated for the old semi-automatic high-voltage ring network cabinet operation panel, and the mechanical and control parts of the mechanical arm are designed according to the design index. Secondly, the kinematics equations of the designed 4-DOF manipulator are established by D-H method, and the end position coordinates and joint angles of the manipulator are solved. Then, the three-dimensional modeling of the four degree of freedom manipulator is carried out in the robot toolbox of MATLAB, and the workspace of the manipulator is simulated using Monte Carlo method to obtain the workspace map of the manipulator. Finally, the joint space method is used to plan the trajectory of the manipulator, and the trajectory diagram of the end effector and the curves of angular velocity, angular acceleration and angular displacement varying with time are obtained. The simulation results show that the designed four degree of freedom manipulator meets the remote opening and closing requirements of the old semi-automatic high-voltage ring network cabinet.