Advance per revolution control system for cable peeling robot

Abstract

This graduation project presents the design process of a device for detecting a 240 mm² XLPE type medium voltage cable. The device accurately measures the cable’s position within a range of 150 to 240 mm from the cable end. The aim is to integrate this device into a cable peeling robot, controlling the advance per revolution with an on-off control system. To achieve this, the project investigates the most suitable technology for position tracking with sub-1 mm inaccuracy. The device utilizes a novel position tracking caster wheel system, rotary encoders, and presence-absence sensors. A gear-box mechanical system adjusts sensor sensitivity, while a slippage avoidance system prevents accuracy losses due to wheel-cable friction. Custom signal processing and filtering facilitates manual testing. The device underwent thorough testing and analysis for integration with the robot, achieving an impressive accuracy of 0.679 mm or 0.28% at its maximum range. Implementing this device in the industry can significantly reduce cable splicing failures and eliminate problems stemming from incorrect cutting distance measurements.