Research On Mechanism Of Passive Adaptive Robot For Nuclear Environment

This work is supported by the National Natural Science Foundation of China No.61473113(Research on Adaptive Mechanism and Efficient Operation Method of Robot Oriented Nuclear Power Plant RCV).Efficiency and reliability are the core factors in determining the performance of nuclear industry robots.The purpose of this research is to develop a mobile platform for the replacement of radioactive filters in the chemical and volume control system(RCV)located in the primary circuit in the nuclear power plant.It focuses on the highly reliable mobile mechanism and efficient operation method of nuclear robots.The work mainly contains:1.A novel passive adaptive wheel-track robot platform suitable for the operation of filter replacement in RCV and the mechanisms for making the same.The structure of the robot is designed in detail.The three-dimensional model and the transmission system are then established,as well as the locomotion characteristics of the robot.2.Theoretical analysis of the structural parameters which influence the mobility of the robot.Firstly,the mathematical model of the robot is established.The kinematic relationship and the parameters of each component of the track support structure are analyzed.The parameters of the track are optimized with the track deformation as the objective function.The simulation results and the experimental results are verified.The relationship between the driving wheel,the driven wheel and the ground is studied.The parameters of the wheel are determined,the two wheels are simulated and the critical state of the robot mode transition is then obtained.The deformation characteristics of the spring,the force of the robot in two states are analyzed.Then the minimum pre-stretch force of the spring is obtained,followed by a set of spring parameters.3.The dynamic stability of the mobile platform is analyzed using standard dynamic energy stabilization method.Based on this,the abilities of climbing steps,ascending uphill and overturning trenches are analyzed.According to the radiation protection requirement of the working environment,the experiments are held to verify the transmission of motion mode,the deformation of the track,the resetting ability of the springs.Based on the passive adaptive mechanism,a novel wheel-track robot platform is proposed,which accommodates the environment of the nuclear power plant.Through theoretical analysis,parametric simulation,experimental verification and other methods of its institutions,the rationality and feasibility of this structure and parameters are verified.