For Nuclear Power RCV Mobile Manipulator Structure Design And Analysis Of The Filter

As China's energy tensions are becoming more and more serious,nuclear power known for clean energy is increasingly popular and the rapid development of intelligent robot technology.In order to improve the efficiency of operations and ensure the safety of the staff,we need to develop a number of our own intellectual property rights Nuclear power plant dedicated robot.In this paper,based on the support of the National Natural Science Foundation of China,this paper draws lessons from the technology and experience of nuclear power environment monitoring and rescue robot at home and abroad,Design a mobile operating robot that can replace the staff in the high radiation environment for the filter cartridge replacement operation.The innovative results of this paper are as follows:1.In this paper,the operation requirements of the mobile manipulator for nuclear RCV filter are analyzed and the typical obstacle information is extracted.The overall design scheme of a double acting manipulator is proposed.The end effector is designed in detail according to the structural parameters of the filter element.The mechanism of its realization is studied.2.The kinematics and inverse kinematics equations of the manipulator are established by D-H method.The positive kinematics is simulated by ADAMS,and the Jacobian matrix and singularity of the manipulator are calculated.The working space of the manipulator.3.The dynamics of the manipulator is analyzed by using the Lagrangian method for the complete control system of the manipulator.The dynamics of the torque of each joint is analyzed and the rationality of the motor selection is verified.4.The error of the end of the manipulator is analyzed by using the matrix method and vector method respectively.The influence of the parameters of the connecting rod on the accuracy of the end position of the manipulator is analyzed by using the control variable method with the maximum error value of the end position as the evaluation index An Error Correction Algorithm Based on Jacobian Matrix.This paper mainly designes and analyzes the mobile manipulator for nuclear RCV filte replacement,and put forward a technical scheme of 5R-two-function series manipulator.The kinematics,dynamics and error are analyzed theoretically.Through the theoretical analysis and simulation experiments,the rationality of the scheme is verified at the end.