多关节核环境移动机器人平台的机构设计与实现

发布时间：2019-02-14 13:41

【摘要】：核聚变能是一种可以从根本上解决人类能源问题的清洁能源。近年来,受控核聚变研究取得了若干突破性进展。为了保持核聚变试验装置的正常运转,需要对其反应舱进行定期维护。然而,反应舱内部物理和几何条件复杂。除了具有高温、高真空和核辐射等特点之外,工作空间也异常狭小,维护人员不宜直接进入舱内对相关部件进行操控。因此,亟需研制一种可以替代人完成相关探测和维护任务的遥操纵机器人系统。在上述背景下,本文针对实际应用需求设计并实现了可用于反应舱内部环境的、具有移动、观测和一定操控能力的多关节遥操纵机器人系统。本文的主要学术贡献及创新点如下:1.以核聚变试验装置EAST为对象,设计并实现了一种适用于核聚变反应舱内部环境的、各关节间可同步协调运行的悬空式多关节移动机器人系统。在结构上所述系统由前端的观测机构、中部的多个悬空机械臂和后端的直线轨道推送装置所组成。在控制上则采用轨道推送加悬臂调整的复合操控方案。2.以核聚变试验装置EAST为对象,设计并实现了一种可在核聚变反应舱底部V型槽面上行走的蠕动式多关节移动机器人系统。该系统采用链式结构设计,由n个(n≥2)蠕动单元串联构成。每个蠕动单元为一个三段式结构,由两个位于两端对称设置的前、后体节和一个可做轴向运动的中体节所组成。对蠕动式移动机器人系统的行走步态进行了规划和分析,并据此构建了相关的多轴协调运动控制方案。3.将前述悬空式多关节移动机器人系统和蠕动式多关节移动机器人系统进行组合,构建了可通过双向协调控制完成重载荷复杂操纵任务的多机器人协调控制系统。为此,在蠕动式多关节移动机器人系统上设计并实现了用于承载和支撑悬空式多关节机械臂的支撑机构。借助于该支撑机构可完成两台机器人之间的协调控制。这里,分析了所述支撑装置对于悬空式多关节机械臂的重力补偿效应,研究了如何通过双向协调控制提升整个系统的负载能力。4.为了验证所研发系统的有效性,利用实际研制的两台多关节移动机器人原理样机开展了实验研究。为此,实际搭建了 EAST核聚变反应舱的模拟环境,并据此对原理样机各组成部分的基本运动及承载性能进行了测试。实验结果表明,所研制的机器人原理样机具备良好的运动力学性能以及承载性能,在功能上满足设计要求。
[Abstract]:Nuclear converging energy is a kind of clean energy which can fundamentally solve the problem of human energy. In recent years, some breakthroughs have been made in the study of controlled nuclear fusion. In order to maintain the normal operation of the nuclear fusion test device, the reactor chamber needs to be maintained regularly. However, the internal physical and geometric conditions of the reaction chamber are complex. In addition to the characteristics of high temperature, high vacuum and nuclear radiation, the workspace is also extremely narrow, maintenance personnel should not enter the cabin directly to control the relevant components. Therefore, there is an urgent need to develop a teleoperation robot system that can replace human to complete related detection and maintenance tasks. Under the above background, this paper designs and implements a multi-joint telecontrol robot system which can be used in the internal environment of the reaction cabin and has the capability of moving, observing and manipulating. The main contributions and innovations of this paper are as follows: 1. Taking the nuclear fusion test device EAST as the object, a suspension multi-joint mobile robot system is designed and implemented, which is suitable for the internal environment of the nuclear fusion reaction chamber and can operate synchronously and harmoniously among the joints. The structure of the system consists of a front end observation mechanism, a plurality of cantilever manipulators in the middle and a linear orbit push device at the back end. In the control of the use of rail push and cantilever adjustment of the composite control scheme. 2. A peristaltic multi-joint mobile robot system which can walk on the V-groove surface at the bottom of the nuclear fusion reaction chamber is designed and implemented with the nuclear fusion test device EAST as the object. The system is designed with chain structure and consists of n (n 鈮，

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