Development Of A Virtual Simulation Platform For Power Manipulators In Nuclear Environment

The power manipulator for working in a nuclear environment is mainly a special equipment designed and manufactured to handle some dangerous work tasks in a radiation environment.Aiming at the problem that it is difficult for operators to accurately grasp the manipulator’s position and posture through the observation window,which may bring risks to the operation,combined with virtual simulation technology,a virtual simulation platform for power manipulators based on the Robot Operating System(ROS)is developed.Firstly,the structure and parameters of the power manipulator body and the related functions of the ROS are analyzed.Starting from the problems existing in the operation of the power manipulator in nuclear environment,combined with the needs of the enterprise,the overall design scheme of the virtual simulation platform of the power manipulator is proposed.Secondly,based on the research on the manipulator body structure and the robot kinematics modeling,the DH parameter method is used to complete the kinematic modeling of the power manipulator,and the forward and inverse kinematics analysis and solution of the power manipulator are completed.Then it analyzes the robot path planning algorithm based on RRT,proposes to use the RRT* algorithm improved based on the RRT algorithm to complete the path planning of the robot,and analyzes the pros and cons of the two algorithms in terms of planning path length.At the same time,based on the above analysis,the development of various functional modules of the manipulator is completed in ROS,including the function of forward and inverse kinematics solving,motion planning,and communication.Finally,combining Rviz tools and QT software development platform to complete the development of the humancomputer interaction interface of the virtual simulation platform,and also completed the test of the power manipulator virtual simulation platform,which verified the correctness and feasibility of the research.Research of this paper implements the operation power manipulator nuclear environment the development of virtual simulation platform,the manipulator can help operators informed hot indoor posture of the manipulator,improve mechanical power of sex and safety operation,on the other hand,the platform can also training for the operation of the operators to provide a safe environment.