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Related Experiment Video

Updated: May 31, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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Published on: October 14, 2017

Steam Generator Maintenance Robot Design and Obstacle Avoidance Path Planning.

Fengwei Yuan¹, Gengzhen Ren², Qian Deng^2,3

¹College of Resource Environmental and Safety Engineering, University of South China, Hengyang 421001, China.

Sensors (Basel, Switzerland)

|January 25, 2025

Summary

This summary is machine-generated.

A novel ten-degree-of-freedom robot automates nuclear power plant steam generator tasks, enhancing safety. This robotic system successfully navigates complex environments, reducing operator risk in high-radiation areas.

Keywords:

forward and inverse kinematics path planning plate plugging robot steam generator ten degrees of freedom

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Area of Science:

Robotics
Nuclear Engineering

Background:

Manual installation/removal of steam generator plugging plates in nuclear power plants is hazardous.
High-radiation environments pose significant risks to human operators.

Purpose of the Study:

To design and validate a robotic system for safe and efficient steam generator main pipe plugging plate operations.
To address the safety and convenience issues associated with manual operations.

Main Methods:

A ten-degree-of-freedom robot combining a collaborative robotic arm and servo electric cylinder was designed.
Forward and inverse kinematics were solved using a D-H parameter model.
The RRT algorithm was employed for path planning in a simulated environment, with paths analyzed in three stages.

Main Results:

The robotic system demonstrated the ability to complete the plate plugging task autonomously.
Obstacle avoidance was achieved even with some path zigzagging in complex simulated environments.
Simulation revealed stable joint parameter changes in the initial stage, with notable zigzagging in later stages for specific joints.

Conclusions:

The developed plate plugging robot effectively reduces risks for operators in high-radiation nuclear environments.
The system shows significant research and application value for nuclear power plant maintenance.
Automated operation enhances both safety and efficiency in steam generator maintenance.