中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
首页 机构 成果 学者
  
  1. CAS IR Grid
  2. 合肥物质科学研究院
  3. 中国科学院合肥物质科学研究院
  4. 中科院合肥智能机械研究所
Design and implementation of wormlike creeping mobile robot for EAST remote maintenance system

文献类型：期刊论文

作者Zhang, Qiang1,2; Zhou, Ling1; Wang, Zengfu1,2
刊名FUSION ENGINEERING AND DESIGN
出版日期2017-05-01
卷号118页码:81-97
关键词East Nuclear Fusion Vessel Creeping Walking Mechanism Mechanical Property Analysis Gait Planning Movement Performance Test
DOI10.1016/j.fusengdes.2017.03.054
文献子类Article
英文摘要Maintenance for nuclear fusion vessel is crucial, yet it faces great difficulty due to the complex internal physical and geometric conditions. Since the limitation on inherent strength, load, size, etc, a manipulator robot can only complete very limited tasks. Robotic arm systems for remote operation such as JET and MPD can carry certain tools to complete a variety of operating tasks, but it is difficult to achieve the system which is very complex. Therefore, if the inherent idea of using a single robot to complete the specified functions can change, it is possible to make the problems simpler and easier to solve by adding auxiliary robots working together with the robotic arm systems to complete the assigned tasks. Under the above background, based on the deeply analyzing and refining the functional requirements of the vessel operation robot, proceeding from the perspective of ability to move and carry a certain operating device, this paper presents a wormlike creeping mobile robot walking on the V-shaped circular slot inside a nuclear fusion vessel such as EAST (Experimental Advanced Superconducting Tokamak). We have designed and implemented the principle prototype of the robot which has chain structure with n (n >= 2) creeping units. Each creeping unit is of three-part structure, which consists of fore segment, mid segment and back segment connected by bidirectional universal joint. The fore and back segments stretch the paws to contact the surface of V-shaped slot, while the mid segment realizes the overall movement of robot. In order to evaluate the design and implementation of the mobile robot platform, functional analysis is devoted to modules of robot. Especially for the requirements of walking stability on the V-shaped slot, creeping gait planning is analyzed to construct a multi axis coordinating movement control scheme for creeping motion. Finally, by using the simulated EAST nuclear fusion vessel, the principle prototype is tested, and the preliminary evaluation of its functional index and related technical parameters is carried out. The experimental results show that the principle prototype of the robot can achieve stable walking on the V-shaped circular slot at the bottom of the nuclear fusion vessel, and it has a certain ability to carry equipments. (C) 2017 Elsevier B.V. All rights reserved.
WOS关键词CONCEPTUAL DESIGN ; VACUUM VESSEL ; PROGRESS
WOS研究方向Nuclear Science & Technology
语种英语
WOS记录号WOS:000400226900012
资助机构National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; National Natural Science Foundation of China (NSFC)(61503361) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007) ; China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER)(2012GB102007)
源URL[http://ir.hfcas.ac.cn:8080/handle/334002/33482]  
专题合肥物质科学研究院_中科院合肥智能机械研究所
作者单位1.Chinese Acad Sci, Inst Intelligent Machines, Hefei 230031, Anhui, Peoples R China
2.Univ Sci & Technol China, Dept Automat, Hefei 230026, Anhui, Peoples R China
推荐引用方式
GB/T 7714		 Zhang, Qiang,Zhou, Ling,Wang, Zengfu. Design and implementation of wormlike creeping mobile robot for EAST remote maintenance system[J]. FUSION ENGINEERING AND DESIGN,2017,118:81-97.
APA Zhang, Qiang,Zhou, Ling,&Wang, Zengfu.(2017).Design and implementation of wormlike creeping mobile robot for EAST remote maintenance system.FUSION ENGINEERING AND DESIGN,118,81-97.
MLA Zhang, Qiang,et al."Design and implementation of wormlike creeping mobile robot for EAST remote maintenance system".FUSION ENGINEERING AND DESIGN 118(2017):81-97.

入库方式： OAI收割

来源：合肥物质科学研究院

浏览0
下载0
收藏0
其他版本

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。