Ontology type: schema:ScholarlyArticle
2021-10-18
AUTHORSQiang Zhang, Bo Song, Bin Cai, Yuxiang Sun
ABSTRACTRegular maintenance of the nuclear fusion reactor vessel is essential. However, due to the complex physical and geometric conditions inside the reactor vessel, the implementation of this work is facing great difficulties. The existing cantilever robot or in-vessel remote operating system is unable to complete complex tasks because of its single function and poor system coordination. Based on the above research background and the practical application requirements, a composite multi-joint remote operation robot platform which can be used in the internal environment of the nuclear fusion vessel and has the ability of moving, observing and controlling is designed in this paper. The platform consists of three parts: the suspended multi-joint mobile robot system, the peristaltic multi-joint mobile robot system and the multi-robot coordinated control system. First of all, based on the physical model and environmental characteristics of the EAST nuclear fusion vessel, through the analysis of the functional requirements and design specifications of the robot platform, the modular mechanism design and function analysis of each component system are carried out. Secondly, through the analysis of the gravity compensation effect of the multi-robot coordinated control system for the suspended multi-joint manipulator, how to enhance the load capacity of the whole system through a bidirectional coordinated control is studied. Finally, in order to verify the effectiveness of the developed system, the basic motion and load-bearing performance of each component of the prototype are tested by actually building a simulation environment for the EAST nuclear fusion vessel. The experimental results show that the prototype of the robot platform has good kinematic and mechanical properties and load-bearing performance, and meets the design requirements in function. More... »
PAGES22
http://scigraph.springernature.com/pub.10.1007/s10894-021-00311-7
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