# Distribution station inspection robot with modular manipulator

## TL;DR

A new substation inspection robot with a modular arm improves flexibility and efficiency for power grid operations.

## Contribution

The paper introduces a modular robotic arm with rapid tool-switching for substation inspection tasks.

## Key findings

- The robot's modular design enables precise operation of control devices like push buttons and circuit breakers.
- The coaxial end-effector design allows for fast switching between three operational modes.
- Experimental results confirm the robot's effectiveness in various inspection scenarios.

## Abstract

Substation inspection robots play a vital role in ensuring the safety of power grid systems and improving operational efficiency. However, existing inspection robots often face challenges such as limited flexibility at the mechanical end-effector, slow tool-switching speeds, and an inability to meet diverse operational demands, which restrict their efficiency and adaptability. To overcome these limitations, this paper introduces a substation inspection robot equipped with a modular robotic arm. The robot incorporates a coaxially aligned end-effector design, enabling rapid tool switching across three operational modes via a single-degree-of-freedom drive. This design allows for precise operation of control devices, including push buttons, rotary switches, and draw-out circuit breakers, significantly enhancing both operational flexibility and efficiency. Moreover, the robot adheres to the principles of low cost, open-source accessibility, and modularity, making it particularly suitable for indoor substation inspection tasks and operational validations. Additionally, it provides a versatile hardware platform for the development of algorithms and related research. Experimental results confirm the robot’s operational performance across a variety of scenarios, offering solid technological support for the realization of fully unmanned substation operations.