蒸汽发电机维护 机器人设计和障碍回避 路径规划
Fengwei Yuan1, Gengzhen Ren2, Qian Deng2,3
1College of Resource Environmental and Safety Engineering, University of South China, Hengyang 421001, China.
Sensors (Basel, Switzerland)
|January 25, 2025
概括
一个具有十度自由度的新型机器人自动化了核电站蒸汽发生器任务,提高了安全性. 这种机器人系统成功地在复杂的环境中导航,减少高辐射区域的操作员风险.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 核工程 核工程是指核工程.
背景情况:
- 在核电站中,手动安装/拆除蒸汽发电机的插座板是危险的.
- 高辐射环境对人类操作员构成重大风险.
研究的目的:
- 设计和验证一个机器人系统,用于安全和高效的蒸汽发电机主管道塞板操作.
- 解决与手动操作相关的安全和便利问题.
主要方法:
- 设计了一个十度自由度的机器人,它结合了协作式机器人臂和伺服电动气.
- 前进和反向动力学是使用D-H参数模型来解决的.
- 在模拟环境中使用RRT算法进行路径规划,并将路径分析成三个阶段.
主要成果:
- 机器人系统证明了能够自主完成板块插塞任务的能力.
- 在复杂的模拟环境中,即使有一些路径在复杂的模拟环境中曲,也可以避免障碍物.
- 模拟显示在初始阶段稳定的关节参数变化,在特定关节的后期阶段显著的齐克扎克.
结论:
- 开发的板塞机器人有效地减少了高辐射核环境中的操作人员的风险.
- 该系统在核电站维护方面具有显著的研究和应用价值.
- 自动化操作提高了蒸汽发电机维护的安全性和效率.
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