Research On Location And Posture Issue Of Maintaining Robots In Nuclear Power Plants

Nuclear power is one of the important energy that is useful in the world,and nuclear power plant is an important aspect of use of nuclear energy. Because of the maintaining work environment in the nuclear power plants where people is forbidden,the work which people can not afford in the nuclear power plants need the use of the robot of nuclear power plants. In view of the characteristics of the nuclear power plants and the importance of efficiency in maintaining of the nuclear power plants,the article does some researches on the Fluid Mechanics and Space Transformation Theory in the appliance of the maintaining robots in nuclear power plants.First,the article introduced the location and posture issue of the maintaining robots in the process of maintaining.The problem is divided into the path planning issue and the posture judgments issue which are necessary to be dealt.Then,in order to solve these two issues,the article posed two corresponding algorithms.One is the Fluid Mechanics algorithm,the other is the Posture Transformation algorithm.The Fluid Mechanics algorithm can get a smoother path than the Artificial Potential Field algorithm do,and the efficiency of the Fluid Mechanics algorithm is also higher than the efficiency of the Artificial Potential Field algorithm.In the process of searching the devices the Posture Transformation algorithm can be able to use less time than the Normal Searching algorithm.Last,the article proved the superiority of two algorithms via two procession. The first procession is proving the superiority of two algorithms in theory,the second procession is proving the superiority of two algorithms through simulation experiments,which include the comparison of path smoothness simulation experiments and the comparison of time simulation experiments.Through these work the article solve the location and posture issue and prove the efficiency of two algorithm.