核电站巡检履带机器人力学分析与运动规划  

Mechanical Analysis and Motion Planning of the Crawler Robot for Nuclear Power Plant Inspection

作　　者：李彰 吴学洲 朱性利[2] LI Zhang;WU Xuezhou;ZHU Xingli(China Nuclear Power Operation Technology Co.,Ltd.,Wuhan 430200,China;Research Institute of Nuclear Power Operation,Wuhan 430200,China)

机构地区：[1]中核武汉核电运行技术股份有限公司,武汉430200 [2]核动力运行研究所,武汉430200

出　　处：《机械工程师》2022年第1期142-145,共4页Mechanical Engineer

摘　　要：履带机器人具有强越障的结构特点,能够在核电站中代替人进行高频次巡检等任务,而履带机器人的输出特性和越障过程的姿态是决定机器人越障能力的两个关键因素。针对核电站复杂环境的越障需求,设计了一种双摆臂履带机器人,以阶梯和斜坡等障碍物作为分析障碍物,建立了双摆臂履带机器人的输出力矩计算模型,以楼梯作为核电站的关键障碍物,进行了双摆臂履带机器人的越障姿态规划,并在双摆臂履带机器人平台上进行了实验测试,验证了履带机器人的越障能力。The crawler robot has the structural characteristics of strong obstacle crossing, and can replace humans in nuclear power plants to perform high-frequency inspections and other tasks. The output characteristics of the crawler robot and the attitude of the obstacle crossing process are two key factors that determine the robot’s obstacle crossing ability. In response to the obstacle crossing requirements of the complex environment of nuclear power plants, a dual-swing arm crawler robot is designed. Taking obstacles such as stairs and slopes as the analysis obstacles, the output torque calculation model of the dual-swing arm crawler robot is established. Taking the stairs as the key obstacle of the nuclear power plant, the obstacle crossing attitude planning of the dual-swing arm crawler robot is carried out. Experimental tests are carried out on the dual-swing arm crawler robot platform to verify the capabilities of the crawler robot.

关 键 词：核电巡检 双摆臂履带机器人 输出力矩 姿态规划 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]