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Position error compensation of the multi-purpose overload robot in nuclear power plants

文献类型：期刊论文

作者Qin, Guodong2; Ji, Aihong2; Cheng, Yong1; Zhao, Wenlong1; Pan, Hongtao1; Shi, Shanshuang1; Song, Yuntao1
刊名NUCLEAR ENGINEERING AND TECHNOLOGY
出版日期2021-08-01
卷号53
ISSN号1738-5733
关键词Multi-purpose overload robot Remote handling system Levenberg-marquardt Parameter identification
DOI10.1016/j.net.2021.02.005
通讯作者Ji, Aihong(meeahji@nuaa.edu.cn) ; Shi, Shanshuang(shiss@ipp.ac.cn)
英文摘要The Multi-Purpose Overload Robot (CMOR) is a key subsystem of China Fusion Engineering Test Reactor (CFETR) remote handling system. Due to the long cantilever and large loads of the CMOR, it has a large rigid-flexible coupling deformation that results in a poor position accuracy of the end-effector. In this study, based on the Levenberg-Marquardt algorithm, the spatial grid, and the linearized variable load principle, a variable parameter compensation model was designed to identify the parameters of the CMOR's kinematics models under different loads and at different poses so as to improve the trajectory tracking accuracy. Finally, through Adams-MATLAB/Simulink, the trajectory tracking accuracy of the CMOR's rigid-flexible coupling model was analyzed, and the end position error exceeded 0.1 m. After the variable parameter compensation model, the average position error of the end-effector became less than 0.02 m, which provides a reference for CMOR error compensation. (c) 2021 Korean Nuclear Society, Published by Elsevier Korea LLC. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
资助项目National Natural Science Foundation of China[11802305] ; National Natural Science Foundation of China[51875281] ; National Natural Science Foundation of China[51861135306] ; China National Special Project for MagneticConfinement Fusion Science Program[2017YFE0300503] ; Fundamental Research Funds for the Central Universities
WOS研究方向Nuclear Science & Technology
语种英语
出版者KOREAN NUCLEAR SOC
WOS记录号WOS:000671556100013
资助机构National Natural Science Foundation of China ; China National Special Project for MagneticConfinement Fusion Science Program ; Fundamental Research Funds for the Central Universities
源URL[http://ir.hfcas.ac.cn:8080/handle/334002/123550]  
专题中国科学院合肥物质科学研究院
通讯作者Ji, Aihong; Shi, Shanshuang
作者单位1.Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
2.Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, Nanjing 210016, Peoples R China
推荐引用方式
GB/T 7714		 Qin, Guodong,Ji, Aihong,Cheng, Yong,et al. Position error compensation of the multi-purpose overload robot in nuclear power plants[J]. NUCLEAR ENGINEERING AND TECHNOLOGY,2021,53.
APA Qin, Guodong.,Ji, Aihong.,Cheng, Yong.,Zhao, Wenlong.,Pan, Hongtao.,...&Song, Yuntao.(2021).Position error compensation of the multi-purpose overload robot in nuclear power plants.NUCLEAR ENGINEERING AND TECHNOLOGY,53.
MLA Qin, Guodong,et al."Position error compensation of the multi-purpose overload robot in nuclear power plants".NUCLEAR ENGINEERING AND TECHNOLOGY 53(2021).

入库方式： OAI收割

来源：合肥物质科学研究院

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