Research On The Operation Of Maintenance Manipulator For Tokamak

As a new energy, nuclear fusion energy is rich in raw materials and pollution-free after the reaction, so it is generally considered to be an important way to solve today’s energy crisis. To promote the commercialization of fusion reactor engineering technology, many countries around the world have implemented a plan named the International Thermonuclear Experimental Reactor(ITER). With the implementation of the plan, the maintenance manipulator for Tokamak gradually becomes a hot topic. In this paper, the maintenance manipulator with multiple functions including complete test, dust removal, parts remove and installation was studied. The main content of this thesis is summarized as bellow:First analyzed the kinematic of maintenance manipulator. Maintenance manipulator is composed of dual arm manipulator and large-scale manipulator, the reasonableness of the two structures was analyzed according to mission requirements. For dual arm operatin manipulator, the paper modeled the kinematics using D-H method and solved the forward kinematics, calculated out the analytical solution of inverse kinematics by inverse transform method, derived Jacobian matrix of dual arm manipulator by differential transformation method. The forward kinematics analysis of large-scale manipulator was carried out. Then the dual arm manipulator workspace and the actual workspace of large-scale manipulator with the environmental limits were calculated by the Monte Carlo method, which proved that both conform to the requirements of the indicators.Secondly, for the dual arm manipulator coordination operation problems, the constraints of manipulators under loose coordination and tight coordination were studied, and position and rotation constraints and velocity constraints were derived. A Cartesian coordinate path planning algorithm of dual arm manipulator coordinated movement was established, using polynomial interpolation to ensure the smooth of joint position velocity and acceleration. The algorithm was tested by Matlab which make coordination carrying task simulation of dual arm manipulator. Results show that dual arm manipulator completed the task successfully and the track was smooth, the two manipulators avoid the rigid shock and flexible shock effectively, the correctness of constraints and the path planning algorithm were verified. Finally, a simulation environment in ADAMS was established to show the dual arm manipulator coordination work intuitively.According to remote control needs of maintenance manipulator for Tokamak operation, this paper designed interactive system based on virtual reality using Unity3 D engine. The paper studied the overall framework, operating principles, model organization and method of the main function modules and other aspects of the system, built the virtual scene with virtual models and reality models, using the bounding box with layer setting to achieve a real-time collision detection for chamber environment, designed interactive interface meeting the needs of the project, finally designed the interactive system with motion simulation, scene roaming, master-slave interaction, process simulation playback, network communications and other functions.Finally, this paper set up a test platform and carried out off-line simulation and on-line test for interactive systems respectively, which verified the feasibility of the technology program.