核电站多功能水下打捞机器人系统研究  

Research on the reactor multi-function robot for object salvaging underwater

作　　者：黄晓辰[1] 张小俊[2] 孙凌宇[2] 李满宏[2] 张明路[2] 

机构地区：[1]天津职业技术师范大学机械工程学院,天津300222 [2]河北工业大学机械工程学院,天津300130

出　　处：《仪器仪表学报》2017年第3期552-559,共8页Chinese Journal of Scientific Instrument

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

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。Because of the high radiation and complex structure in the nuclear power plant,the operating personnel can be affected by radiations that greatly threaten their physical security and life safety. The reactor multi-function robot for object salvaging underwater is designed to solve this problem. Firstly,the manipulator is modeled with the DH rule,and its forward kinematics formulation,inverse kinematics formulation and singularities of the manipulator are calculated. Considering the comprehensive influence caused by factors such as the water resistance,additional mass force and buoyancy force,dynamic equations of the underwater robot are established,which can describe the complicated dynamic behavior. Finally,an engineering prototype of the third generation of reactor robot is developed.The results of the grabbing test show that the engineering prototype of the reactor multi-function robot for object salvaging underwater realizes the goal of grabbing foreign matters in the nuclear reactor pool.

关 键 词：核电站 水下打捞机器人 运动学分析 水动力学分析 机器人设计 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TH122[自动化与计算机技术—控制科学与工程]