Research On Trajectory Planning And Real-time Monitoring Of Tool Docking Process Of Demolition Robot

In the nuclear decommissioning work,the demolition robot can assemble the tools such as hammer,hydraulic shear and grab through the quick change device to break,cut and carry the nuclear facilities.At present,it is the main tool to demolish nuclear facilities instead of manual access to radiation environment.However,due to the special structure of the quick change device and the tool,it is necessary for the operator to evaluate and adjust the relative posture of the two devices in a short distance in the safety area,which leads to the low efficiency and high cost of the demolition robot in the nuclear decommissioning work.In order to make the demolition robot automatically and accurately dock with the tool in the radiation environment,this thesis studies the trajectory planning and real-time monitoring of the docking process of the demolition robot and the tool on the basis of the existing quick change device and tool structure.The main research contents are as follows:Firstly,the basic structure and characteristics of the demolition robot are introduced.The conversion relationship between the length of the hydraulic cylinder and the joint angle is analyzed based on the geometric method.Based on the Monte Carlo method,the working range of the armfor demolition robot is solved.Further,The feasible docking distance between the demolition Robot and the tool is defined.Secondly,the D-H linkage model of the demolition robot is established,and the forward kinematics problem of the robotic arm of the demolition robot is solved by an analytical method.The inverse kinematics of the robot arm is solved by the general numerical method and the improved geometric method.Moreover,The RTB toolbox is used to verify the forward and inverse kinematics solutions.Thirdly,the docking path of the demolition robot tool is analyzed.On this basis,the 3-3-3 degree,4-4-5 degree,5-5-5 degree piecewise polynomial trajectory planning methods of joint space joints,and the third order Bezier curve trajectory planning method of Cartesian space are studied.Through numerical simulation and animation simulation based on Simscape Multibody toolbox,it is shown that compared with the polynomial segmented trajectory planning method in joint space,the three order Bezier curve trajectory planning method in Cartesian space is more suitable for the trajectory planning of demolition robot and tool docking process.Finally,a real-time monitoring system for the docking process of robot tools is designed and implemented.Through the experimental test,the system can accurately and real-time display the docking process of the demolition robot and the tool on the remote PC in the form of animation,which is convenient for the operator to visually monitor the docking process of the demolition robot and the tool in real time.