| Nuclear fusion energy is a clean energy that can fundamentally solve the energy problem of human. In recent years, several breakthroughs have been made in the research of controlled fusion. In order to maintain the normal operation of the nuclear fusion test device, regular maintenance of its reaction vessel is required. However, the physical and geometrical conditions inside the reaction vessel are complex. Besides the characteristics of high temperature, high vacuum and nuclear radiation, the working space of the reaction vessel is very narrow. The maintainers should not enter the vessel directly and control the relevant parts. Therefore, it is urgent to develop a remote operation robot system that can replace the human to complete the relevant detection and maintenance tasks.Under the above background, a multi-joint remote operation robot system with mobile, observational, and control capabilities, which can be used in the inner environment of the reaction vessel, is designed and implemented for the purpose of practical application in this dissertation.The main research work of this dissertation is as follows:Firstly, based on the EAST nuclear fusion test device, a suspended multi-joint mobile robot system is designed and implemented, which is suitable for the internal environment of the fusion reaction vessel and is capable of synchronous and coordinated operation among joints. Structurally, the system is composed of an observation mechanism at the front, multiple suspended mechanical arms in the middle and a linear track pushing device at the back end. In the control, the system adopts the compound control scheme of track push and cantilever adjustment.Secondly, based on the EAST nuclear fusion test device, a peristaltic multi-joint mobile robot system walking on the V-shaped circular slot at the bottom of the nuclear fusion reaction vessel is designed and implemented. The system adopts chain structure design, which is composed of n (n?2) peristaltic units in series. Each peristaltic unit is a three-segment structure, which consists of a fore and back segment symmetrically arranged at both ends and a middle segment that can move axially. The creeping gait planning of the peristaltic mobile robot system is analyzed to construct the related multi-axis coordinating movement control scheme.Thirdly, by combining the foregoing suspended multi-joint mobile robot system with the peristaltic multi-joint mobile robot system, a multi-robot coordinated control system capable of performing complex manipulation tasks of heavy load by bidirectional coordinated control is constructed. Therefore, a support mechanism for carrying and supporting suspended multi-joint mechanical arms is designed and implemented in the peristaltic multi-joint mobile robot system. Here, the gravity compensation effect of the support device on the suspended multi-joint mechanical arms is analyzed, and how to improve the load capacity of the whole system by bidirectional coordinated control is studied.Finally, in order to verify the effectiveness of the developed system, an experimental study is carried out by using a prototype of two multi-joint mobile robots. For this purpose, the simulation environment of the EAST fusion reaction vessel is set up, and the basic movement and bearing performance of each component of the prototype are tested. The experimental results show that the robot prototype has good mechanical performance and bearing capacity, which can meet the design requirements in function. |
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