Study Of Kinematics Analysis And Path Planning For Underwater Crawling Robot Of Pressurized-water Reactor

Currently, high radiation, water corrosion and other problems exist in the environmentof nuclear power plants. In order to guarantee people’s safety, robot technology introducethe nuclear industry has been a broad consensus. Underwater crawling robots of nuclearpower plants can replace maintenance operations personnel to finish foreign matterinspection in the reactor core and pools and salvage operations. It can guarantee people’ssafety and has become one of today’s major research directions of nuclear robots. Supportedby the National High Technology Research and Development Program of China (No.2011AA040201)"Multifunction underwater crawling robot for nuclear", the thesis is carriedon the kinematics analysis and path planning for underwater crawling robots of nuclearpower plants.The main content and the achievements are as follows:1. Kinematics of underwater crawling robot of nuclear power plants is analyzed. Thekinematics model of4-DOF manipulator and the entirety of the underwater robot of nuclearpower plants is established, and the kinematics positive and inverse solution of manipulator,velocity Jacobian matrix, the velocity relationship about the end of4-DOF manipulator,each joint angle of manipulator and the mobile robot body angle are got.The singularconfiguration, work space, crawl space on floor and the optimal posture of the underwatercrawling robots of nuclear power plants are analyzed. The article uses the developedsimulation system of robot to carry on the results’ simulation analysis with MatlabRobotics and Adams softwares, which provides a theoretical basis of the establishment ofmanipulator’s optimizing configuration and control system.2. The robot motion planning is researched. According to the mission requirements ofthe underwater crawling robots of nuclear power plants, point-to-point global path planningof mobile body, global complete coverage path planning and4-DOF manipulator’strajectory planning are researched. The simulation and analysis of robot’s path planning arecarried on with applying LabVIEW Robotics, RobotBasic, Matlab Robotics softwares,which make the foundation for robot finish its tasks.3. Grasp difficulties of underwater crawling robot of nuclear power plants are analyzed.Grasp mode and grasp rules are explored and developed. Grasp rules can overcome thedifficulties existing in the process of grasping because these are developed for differentmodels. By grasping experiments, the robot is analyzed about how to complete grasp tasksmore effectively.