Paper Title
Design and Development of A3-Dof Robot for UG Cable Laying/Replacement

Abstract
UG cable service issues for electricity consumers, stemming from road renovation damage and subpar insulation, present challenges. Traditional methods of deploying skilled personnel for laying or replacing cables are time-consuming and costly. This work introduces a novel solution: a three-degree-of-freedom (3-DOF) robot tailored for power system services. The robot is programmed to lay the cables in the trenches beyond the accessibility of human. By utilizing aluminum extrusion, the robot ensures reliability and cost-effectiveness over sheet metal bending. Incorporating inverse kinematics enhances maneuverability and flexibility. The robot's series design with a direct drive mechanism simplifies operation. Notably, its user interface facilitates efficient control and task assignment via a mobile phone, overcoming the need for reprogramming with each job change, a limitation in existing models. Keywords - UG Cable Laying, Robotics, Degrees-of-Freedom, Inverse Kinematics, Power Systems.