The Structure Design And Simulation Analysis Of Six DOF Manipulator For Assembling Nuclear Fuel Rod

In recent years, with the rapid development of robotics technology and the important role nuclear power plays in new energy sources, automation in the nuclear industry has been becoming an inevitable trend from now, and the use of robots instead of human in the work of nuclear fuel rods grapping and assembling will become an important part in automation production. In consideration of the above, this thesis is a joint robot which is designed for the automatic grasping and assembling for nuclear fuel rods and a kind of joint robot controlled by DC servo motors.In this paper, the part of robot and arm joint plan, according to the grapping nuclear fuel rod and the assembling work environment, working content and performance requirements, proposed the use of a robot to complete a series of operations of the overall program. Each joint is determined robot mode, range of motion utilizing Solidworks established a six degree of freedom robot model. Based on the analytical work, statics forces analysis and error analysis method, the opponents of the structure of the design calculations and to establish its Solidworks models. According to 3Dmodel, the kinematic model of the robot is devised, robot forward and inverse kinematics for a detailed explanation of the calculation, the use software simulation for forward kinematics and getting working space robot based on the Monte Carlo method. Inverse solution of the problem is particularly concerned about the program of the robot solver based on the shortest route solution.The part of trajectory planning and control methods on the basis of inverse kinematics using 434 joint interpolation principle, the trajectory of the robot joint space planning to give a complete explanation of the calculation, and based on the solution prepared angle trajectory planning process. Cartesian coordinates robot trajectory planning simulation analysis, various joint design selected motor position servo control model PID algorithm gives each joint motor position servo PID parameters. The robot dynamic is established based on Lagrange Euler dynamic equations for the practical application of the robot will encounter: joint torque uniformly accelerated start, quick access, as well as above the trajectory planning carried out Simulation. And based on the kinetic equation derived PD control law gives the robot grapping process and the computed torque method in the fuel rod assembly process In order to establish a better model based on Matlab and Adams co-simulation model. The simulation provides the basis for the matching of key parts such as robot structure, motor, reducer and the rationality of control method..