面向核退役设施拆除的机器人遥操作系统设计及实现研究  

Design and Implementation of Robot Teleoperation System for dismantling Nuclear Decommissioning Facilities

作　　者：马永红 高文朋[2] 何贇 马其钊 MA Yonghong;GAO Wenpeng;HE Yun;MA Qizhao(CNNC Sichuan Environmental Protection Engineering Co.,Ltd.,Guangyuan 610006,China;Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]中核四川环保工程有限责任公司,四川广元610006 [2]哈尔滨工业大学,哈尔滨150001

出　　处：《机械工程师》2022年第9期53-56,59,共5页Mechanical Engineer

摘　　要：在核电站等具有强核辐射的高危环境中,遥控机器人拆除核退役设施具有非常重要的意义。在自行研制的核退役设施拆除机器人基础上,文中设计并实现了遥操作主端,为操作者提供手柄控制、编程控制和示教控制等多种控制方式。由于操作者与机器人在空间上是隔绝的,操作者无法实时观察机器人空间构型。为了避免机器人遥操作过程中的自碰撞问题,设计了机器人虚拟仿真软件。通过导入机器人几何模型,增加碰撞检测功能,为操作者实时反馈现场机器人作业时的构型,提升机器人作业操作的安全性。It is very important to dismantle nuclear decommissioning facilities with remote controlled robots in high risk environment such as nuclear power plants. Based on the self-developed robot for dismantling nuclear decommissioning facilities, this paper designs and realizes the main end of teleoperation, which provides the operator with handle control,programming control and teaching control. Due to isolated from the robot in space, the operator can’t cannot observe the spatial configuration of the robot in real time. In order to avoid the problem of self-collision in the process of robot teleoperation, virtual simulation software is designed. By importing the geometric model of the robot, the collision detection function is increased, and the configuration of the robot is fed back to the operator in real time to improve the safety of the robot operation.

关 键 词：双臂机器人 遥操作 虚拟仿真 核设施拆除 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]