System Design And Implementation Of Automatic Measurement Robot For Stud Tensioner

Automatic Measurement Robot for Stud Tensioner is designed to measure thedeformation quantity and the amount of residual tensile of bolts in reactor pressure vessel.The robot could reduce the operating time of workers, which decrease the radiation dosagethey received and improve the efficiency of operations. This paper carried out the researchand design on the system of automatic measurement robot for stud tensioner. The functionwas verified based on experiemental platform. The main contents were as follows:Firstly, background of paper is brief introduced. And its significance is stated based onresearch of advanced nuclear robot technology in the domestic and overseas.Secondly, the distributed control system based on CAN bus (CANopen protocol) wasdesigned in order to fit the working environment for this robot.Thirdly, in terms of the architecture of the Stud Tensioner, a novel kind of robot arm isproposed to realize the automatic measurement function. After that, some critical positionsare analyzed by finite element analysis to verity its feasibility.Fourthly, software and hardware of data processor is designed based on the systemframework. ATmega is employed to gather4~20mA analog current signal, and output24Vdirect current signal. Besides that, the data processor is also responsible for protocolconversion.Fifthly, software and hardware of controller is designed based on FPGA. The hardwaremainly include the circuit designing, the software focus on the control of robot arm and thegather of measurement data.Finally, based on the prototype, the experiments were conducted, and the data wasprocessed, then the experimental results were analyzed. More than that, the applicationdemonstration in Daya Bay Nuclear Power Station is shown at the end of paper.