Study on the Kinematics and Operating Space of a Foreign Body Salvage Robot at the Bottom of the Reactor Pool
- Zhao Wang, Lingyu Sun, Yaiqiao Zhu
- Corresponding Author
- Zhao Wang
Available Online March 2018.
- https://doi.org/10.2991/iceea-18.2018.35How to use a DOI?
- robot; kinematic analysis; operation space analysis; reactor pool
- 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.
- 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 -