Motion control of autonomous winding mobile robots for bent tubular busbar
FEI Ling
ZHENG Zecheng
ZHANG Gongzheng
HU Yuwei
WANG Zhaohui
ZHENG Zhengding
Abstract：[Objective]To address the limitations of existing automated winding equipment in adapting to bent tubular busbar configurations,reliance on manual teaching,and low efficiency,an autonomous mobile winding robot system was proposed.[Methods]The system integrated an automated guided vehicle(AGV)mobile platform,a six-axis robotic arm,2D LiDAR,and an end-effector winding mechanism.By establishing a motion coordinate system and conducting forward/reverse kinematics analysis,LiDAR-based trajectory self-planning methods and collaborative control strategies between robotic arms and AGV were investigated.[Results]Prototype test results demonstrate that the system can perceive the environment and adapt to changes in busbar morphology,breaking through the constraints of traditional fixed workstations;the system achieves a 59.91%reduction in trajectory error,with minimized deviations and significantly improved stability,providing effective reference for collaborative operations between mobile robots and robotic arms.
Keywords：Winding machineKinematics modelingMobile robotic armInsulated tubular busbar
Publication Date：2026-02-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 146-153 )