核电站多功能水下打捞机器人系统研究

发布时间：2018-10-14 10:25

【摘要】：在核电站中,存在辐照剂量高、结构环境复杂等问题,操作人员作业时不可避免地会受到核辐射照射,对操作人员生命安全带来极大威胁。针对上述问题,研制出作业于核环境下的核电站多功能水下打捞机器人。首先,对机器人进行运动学分析,分别求解出机械手的正逆运动学方程及奇异位形;在此基础上,考虑水阻力、附加质量力以及浮力的影响,建立了机器人的水动力学模型,对机器人复杂水下动力学问题进行描述;最后,根据理论分析研制出该机器人第3代工程样机,并通过核电站现场实验对该机器人进行实验验证。实验结果表明,核电站多功能水下打捞机器人能够快速准确的完成异物抓取作业,实现核环境下的水下异物搜索与异物打捞的设计目标。
[Abstract]:In the nuclear power plant, there are some problems such as high radiation dose and complicated structure environment. The operators will inevitably be exposed to nuclear radiation while operating, which will bring great threat to the safety of the operators. In order to solve the above problems, a multi-function underwater salvage robot for nuclear power station is developed. Firstly, the kinematics analysis of the robot is carried out, and the forward and inverse kinematics equations and singular configurations of the manipulator are solved respectively, and on this basis, the hydrodynamic model of the robot is established considering the effects of water resistance, additional mass force and buoyancy. The complex underwater dynamics of the robot is described. Finally, the third generation engineering prototype of the robot is developed according to the theoretical analysis, and the robot is verified by the field experiment of the nuclear power plant. The experimental results show that the multi-function underwater salvage robot of the nuclear power station can quickly and accurately complete the foreign body grab operation and realize the design goal of underwater foreign body search and foreign body salvage under the nuclear environment.
【作者单位】：天津职业技术师范大学机械工程学院;河北工业大学机械工程学院;
【基金】：国家高技术研究发展计划(863计划)(2011AA040201) 国家自然科学基金(61473113)项目资助
【分类号】：TP242

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