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

DOI

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.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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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  - Proceedings of the 2018 2nd International Conference on Electrical Engineering and Automation (ICEEA 2018)
PB  - Atlantis Press
SP  - 161
EP  - 165
SN  - 2352-5401
UR  - https://doi.org/10.2991/iceea-18.2018.35
DO  - 10.2991/iceea-18.2018.35
ID  - Wang2018/03
ER  -