Robotic Arm and Its Control System for Replacing Bushing of Converter Transformers

Transformer bushing faults and defects occur frequently, while traditional bushing replacement methods are time-consuming and labor-intensive. This article designs a transformer bushing replacement robotic arm based on the structural characteristics and technical parameters of the transformer bushing. This article conducts stress simulation analysis on the robotic arm, proposes a position sensing and positioning scheme for the robotic arm and the sleeve, develops a control system for the robotic arm based on a fuzzy PD controller, and ultimately develops a robotic arm for transformer bushing replacement work with human-machine cooperation.