The Design of Intelligent Gripper and Holding Algorithm Suitable for High Voltage Combined Electrical Appliances Docking

To address the issues of low efficiency, poor accuracy, and safety hazards associated with manual connections of high-voltage gas-insulated switchgear (GIS), this paper introduces a specialized intelligent gripper system and control algorithm. In terms of hardware, an innovative three-finger radial synchronous gripper is developed, featuring a carbon fiber composite finger tip and a parallel disc spring-rail dual-level adaptive mechanism, which compensates for ±3.5mm pose deviation. The perception system integrates six-axis force sensors and laser rangefinders, with dynamic gravity compensation and Kalman filtering, achieving a force resolution of 0.1N and a pose estimation error less than or equal to 0.03 mm. At the algorithm level, a hierarchical control architecture is proposed. Gain-scheduled adaptive gripping control enhances robustness through gain scheduling strategies. Directionally decoupled force-position hybrid compliant control constructs a stiffness matrix to achieve coordinated tangential low stiffness and normal adaptive stiffness. The force-position deviation mapping algorithm achieves angle error convergence at the 0.04° level. After 50 full-process tests on GIS simulation pieces, the system has a 98% connection success rate, 93.2% seal compression uniformity, a 38.7% reduction in contact force peak, and a single operation time of 4.1 minutes, significantly enhancing assembly automation.