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In order to enhance the intelligence of substation power cabinet inspection, this paper investigates a 7-DOF hybrid emergency robot integrating a lift mechanism and a six-axis robotic arm. The robot’s structure, control system, and kinematic model are presented, with an emphasis on the improved Denavit-Hartenberg (D-H) method used to establish its forward and inverse kinematics. Simulations in MATLAB validate the kinematic model and demonstrate the advantages of the 7-DOF configuration through workspace comparisons. Motion planning based on real operation scenarios further verifies task feasibility. The results provide a theoretical foundation for intelligent control and improve the efficiency, safety, and adaptability of substation inspection tasks.

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The Design and Kinematic Analysis of a Seven-DOF Electric Operation Robot

  • 会议论文

  • 发表日期：

    2026年

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  • Ding Ma,
  • Haibo Du,
  • Xunhong Sun,
  • Wenwu Zhu,
  • Runchen Zhao,
  • Yuchen Li

摘要

In order to enhance the intelligence of substation power cabinet inspection, this paper investigates a 7-DOF hybrid emergency robot integrating a lift mechanism and a six-axis robotic arm. The robot’s structure, control system, and kinematic model are presented, with an emphasis on the improved Denavit-Hartenberg (D-H) method used to establish its forward and inverse kinematics. Simulations in MATLAB validate the kinematic model and demonstrate the advantages of the 7-DOF configuration through workspace comparisons. Motion planning based on real operation scenarios further verifies task feasibility. The results provide a theoretical foundation for intelligent control and improve the efficiency, safety, and adaptability of substation inspection tasks.