Finite element analysis and vibration control of the Substation Charged Maintenance Robot

Substation insulator strings which exposed to the outdoor environment need to be cleaned the industrial contamination and natural contamination regularly in order to prevent the flashover phenomenon that occurs in rain and fog and other inclement weather because of the accumulation of contamination and then cause power outages and other incidents. The Substation Charged Maintenance Robot is used for cleaning the substation equipment in 110kV-220kV AIS Substation. The vibration characteristics of the robot's chassis and operating platform cannot be ignored to ensure the accuracy of the job. Statics simulation analysis and modal analysis are conducted according to the job characteristics of the robot. Stress distribution of operating platform and low-order vibration frequencies and mode shapes of telescopic arms are obtained and then vibration control schemes are proposed based on the simulation results.