An improved positioning method for disconnector live disassembly robot based on three-point fixation and multi-motion pair

At present, the traditional disassembly method of disconnectors is manual disconnecting, which has not only high work intensity but also low efficiency. The challenge of automatic disconnector removal is the three-dimensional space flexible positioning problem of complex systems. In order to address this issue, an improved positioning method is proposed by this paper, based on three-point fixation and multi-motion pair. First, a coarse positioning and fine positioning mechanism were designed. As the positioning mechanism is the primary condition for the live disassembly robot to complete the mission, the statics of the positioning mechanism was analyzed to ensure the structural strength. On the grounds of analysis results, structural optimizations were made. After that, a three-dimensional model of the disassembly robot was designed to obtain the prototype. Finally, indoors and outdoors experiments were conducted. The experimental results show that both TY-300 and TY-600 can be completely removed and TY-300 (two bolts) connecting plate can be disassembled within 30 minutes, which verifies the high precision and high efficiency of the disassembly robot operation.