Research On Wheel-Track Composite Passive Adaptive Robot Based On RCV

Aiming at the task of replacing RCV filters in complex nuclear power plant environment,a new type of wheel-track composite passive adaptive robot is developed.Based on the passive adaptive mechanism,the interaction between the robot system and obstacles is explored,and its terrain adaptability and passing ability are analyzed.The main work and innovative achievements of this research include:(1)Modeling of wheel-track composite passive adaptive robot.Based on the change of working environment of RCV filter in nuclear environment,the typical obstacle information is extracted,and the design parameters are analyzed.A wheel-track passive adaptive robot based on RCV is designed.The structure design and optimization of the robot are carried out,and the whole motion process and power transmission process of the robot are analyzed.(2)Parameter optimization and kinematics analysis of wheel-track passive adaptive robot.The motion mechanism of transforming ground restraint into robot driving force is studied,the overall structure of the robot is rationally simplified,and the mathematical model of the passive adaptive process of the robot is established.The parameter changes of the robot in the process of mode conversion are explored through the mathematical model,and the transformation relationship between the passive adaptive process of the robot and the three motion modes of the robot is analyzed.The kinematics of the robot is analyzed,and the relationship between the speed,angular velocity,angular acceleration and the motion state of the robot is explored.(3)Motion state and dynamics analysis of wheel-track composite passive adaptive robot.The position and posture of the robot and its turning motion are analyzed to provide a theoretical basis for robot positioning in complex environments and motion strategies in narrow channels;the force situation of the robot as a whole is analyzed,and the mechanical model of the robot in the process of obstacle surmounting is established;the length and force changes of the driven wheel reset spring and the tail wheel reset spring are analyzed.The energy model of the robot system is established,and the relationship between spring elastic potential energy is analyzed concretely.(4)Control system design and prototype experiment of wheel-track composite passive adaptive robot.The prototype of the robot is developed through continuous improvement and optimization,and the control system program of the robot is compiled.A simulation experiment site was built to test the basic motion,turning,climbing and staircase climbing of the robot,and to verify its motion performance,passive adaptive performance and stability.