面向多规格蒸发器传热管检修的新型机器人机构设计及其运动规划
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Research on Novel Robot Mechanism and Motion Planning for Maintenance of Multi-Specification Steam Generator Heat Pipes
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    摘要:

    面向核电站蒸汽发生器的管板爬行式检修机器人存在适应性差、检修效率低等问题。为实现蒸汽发生器多规格传热管的检修任务,本文设计了一款新型机构的四足爬行检修机器人,并对相关的步态规划展开了研究。首先,根据需要适应多规格管板的要求,提出机器人的构型以及整体方案设计,确定了爬行机器人的主要运动方式,并给出了工具工作空间;之后,根据不同类型管板开展了机器人步态规划相关研究,规划了三角形、正方形两种排布管板上的直线运动步态与转向运动步态;最后,利用V-REP与Python联合仿真进行机器人运动仿真实验,结果表明,爬行机器人能够完成多规格管板下的直线运动与转向运动,证明了机构的合理性与运动的可行性。

    Abstract:

    The crawler-type maintenance robot designed for the steam generator in nuclear power plants faces challenges such as inadequate adaptability and low maintenance efficiency. In order to address the task of maintaining multiple specifications of heat transfer tubes in the steam generator, this study proposes a novel quadruped crawling maintenance robot with a new mechanism and conducts research on related gait planning. Firstly, the configuration and overall design of the robot were determined based on the requirements to adapt to multiple specifications of tube plates, and the main motion mode of the crawling robot was identified, along with providing the workspace for tools. Subsequently, research on gait planning was conducted for different types of tube plates, including planning linear motion gaits and turning motion gaits on tube plates arranged in triangular and square patterns. Finally, the motion simulation experiments of the robot were conducted through a joint simulation of V-REP and Python. The results demonstrate that the crawling robot can execute linear and turning motions on tube plates of various specifications, showcasing the rationality of the mechanism and the feasibility of the motion.

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高厚秀,林靖涵,于璇,等. 面向多规格蒸发器传热管检修的新型机器人机构设计及其运动规划[J]. 科学技术与工程, 2024, 24(18): 7739-7745.
Gao Houxiu, Lin Jinghan, Yu Xuan, et al. Research on Novel Robot Mechanism and Motion Planning for Maintenance of Multi-Specification Steam Generator Heat Pipes[J]. Science Technology and Engineering,2024,24(18):7739-7745.

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  • 收稿日期:2024-04-06
  • 最后修改日期:2024-04-25
  • 录用日期:2024-05-02
  • 在线发布日期: 2024-07-05
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