Research On Radiation Detection And Motion Control Of Nuclear Power Plant Emergency Disposal Robot

As a clean energy source,nuclear energy is widely used in many countries around the world.However,many accidents caused by nuclear power plants have caused great losses to society.Once an accident occurs at a nuclear power plant,radioactive material leaks and manual rescue operations are faced with a high-radiation environment.Smart equipment is urgently required to replace emergency personnel to enter the site for survey and emergency treatment.Therefore,it is important to carry out prototype development and related technical research on nuclear power plant emergency disposal robot.First of all,based on the functional requirements of nuclear power plant emergency disposal robots,design and develop a robot system.A tracked mobile platform was used to study the chassis movement strategy;the master-slave operating mechanism was developed,including the hydraulic manipulator and the master hand;the matching electrical control and feedback system was developed,including digital and image transmission systems,sensors and detection devices,etc.Secondly,in order to complete the detection in the nuclear radiation environment and the search for the radioactive source,a large dose rate detector and a radioactive source positioning device for the strong radiation environment were developed.With the help of the mobile platform of the emergency treatment robot,It is an effective approach to detect the radiation environment after the accident,quickly locate the leaked radiation source,and provide a basis for the subsequent formulation of a nuclear accident treatment plan.Then,in order to solve the complicated manipulation problem caused by the excessive freedom of the robot,the method of master-slave control mode is used,and the kinematics of the master hand and the robot manipulator are studied.The Monte Carlo method was used to analyze their motion range,the motion transformation relationship between the robot manipulator and the master hand was determined according to the end space point set,the inverse solution of the robot manipulator was optimized using the differentiated minimum norm,and the master-slave motion simulation and experiment were carried out to test its effect.Finally,according to the requirements of the robot's motion accuracy and response speed when the emergency disposal robot is taking tasks,based on the mathematical simplified model of the hydraulic manipulator system,an adaptive fuzzy sliding mode motion control algorithm is designed to solve the nonlinearity brought by the hydraulic drive system and parameter time-varying problems,then the stability of the control algorithm is proved.Carry out the simulation and experiment of the expected trajectory of the mechanical arm joint used in the emergency treatment of nuclear power plants to verify the advantages of the designed algorithm over the traditional control algorithm.