Proceedings of the 2018 2nd International Conference on Electrical Engineering and Automation (ICEEA 2018)

Study on the Kinematics and Operating Space of a Foreign Body Salvage Robot at the Bottom of the Reactor Pool

Authors
Zhao Wang, Lingyu Sun, Yaiqiao Zhu
Corresponding Author
Zhao Wang
Available Online March 2018.
DOI
https://doi.org/10.2991/iceea-18.2018.35How to use a DOI?
Keywords
robot; kinematic analysis; operation space analysis; reactor pool
Abstract
Nuclear power plant inspection underwater crawling robot can replace foreign operation and maintenance personnel to complete the reactor core and pool fishing operation. In this paper, through the analysis and research on the configuration and control system of the robot, based on kinematics model of underwater crawling robot, analyzing its kinematics , thus establishing kinematics and quasi solution of the equations for the robot, through surface equation , geometric equation and kinematics equation of each link has been established manipulator and constraint plane combination, calculate the maximum ground crawl space boundary, Motion module using SolidWorks to simulate the boundary track verification, finally through the actual movement of the prototype Xu the mechanical arm and the working space. The results show that the robot can well finish the work grasping foreign matter on the ground.
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This is an open access article distributed under the CC BY-NC license.

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Proceedings
2018 2nd International Conference on Electrical Engineering and Automation (ICEEA 2018)
Part of series
Advances in Engineering Research
Publication Date
March 2018
ISBN
978-94-6252-497-2
ISSN
2352-5401
DOI
https://doi.org/10.2991/iceea-18.2018.35How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Zhao Wang
AU  - Lingyu Sun
AU  - Yaiqiao Zhu
PY  - 2018/03
DA  - 2018/03
TI  - Study on the Kinematics and Operating Space of a Foreign Body Salvage Robot at the Bottom of the Reactor Pool
BT  - 2018 2nd International Conference on Electrical Engineering and Automation (ICEEA 2018)
PB  - Atlantis Press
SN  - 2352-5401
UR  - https://doi.org/10.2991/iceea-18.2018.35
DO  - https://doi.org/10.2991/iceea-18.2018.35
ID  - Wang2018/03
ER  -