Design of Coordination System for Composite Mobile Robot Platform Oriented to Nuclear Fusion Vessel
文献类型：期刊论文
| 作者 | Zhang, Qiang1 ; Song, Bo1; Cai, Bin2; Sun, Yuxiang1
|
| 刊名 | JOURNAL OF FUSION ENERGY
 |
| 出版日期 | 2021-12-01 |
| 卷号 | 40 |
| 关键词 | EAST nuclear fusion reactor vessel Multi-joint remote control system Composite multi-joint remote operation robot platform Bidirectional coordinated control Load-bearing performance test |
| ISSN号 | 0164-0313 |
| DOI | 10.1007/s10894-021-00311-7 |
| 通讯作者 | Zhang, Qiang(zhangqiang@iim.ac.cn) |
| 英文摘要 | Regular maintenance of the nuclear fusion reactor vessel is essential. However, due to the complex physical and geometric conditions inside the reactor vessel, the implementation of this work is facing great difficulties. The existing cantilever robot or in-vessel remote operating system is unable to complete complex tasks because of its single function and poor system coordination. Based on the above research background and the practical application requirements, a composite multi-joint remote operation robot platform which can be used in the internal environment of the nuclear fusion vessel and has the ability of moving, observing and controlling is designed in this paper. The platform consists of three parts: the suspended multi-joint mobile robot system, the peristaltic multi-joint mobile robot system and the multi-robot coordinated control system. First of all, based on the physical model and environmental characteristics of the EAST nuclear fusion vessel, through the analysis of the functional requirements and design specifications of the robot platform, the modular mechanism design and function analysis of each component system are carried out. Secondly, through the analysis of the gravity compensation effect of the multi-robot coordinated control system for the suspended multi-joint manipulator, how to enhance the load capacity of the whole system through a bidirectional coordinated control is studied. Finally, in order to verify the effectiveness of the developed system, the basic motion and load-bearing performance of each component of the prototype are tested by actually building a simulation environment for the EAST nuclear fusion vessel. The experimental results show that the prototype of the robot platform has good kinematic and mechanical properties and load-bearing performance, and meets the design requirements in function. |
| WOS关键词 | REMOTE MAINTENANCE ; DYNAMICS ; CONSTRAINTS ; INSPECTION ; STABILITY ; WALKING |
| 资助项目 | National Natural Science Foundation of China (NSFC)[61503361] ; Intelligent Robot Special Project of the National Key R&D Program of China[2017YFB1302301] |
| WOS研究方向 | Nuclear Science & Technology |
| 语种 | 英语 |
| WOS记录号 | WOS:000708478300001 |
| 出版者 | SPRINGER |
| 资助机构 | National Natural Science Foundation of China (NSFC) ; Intelligent Robot Special Project of the National Key R&D Program of China |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/125639]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Zhang, Qiang |
| 作者单位 | 1.Chinese Acad Sci, Inst Intelligent Machines, Hefei Inst Phys Sci, Hefei 230031, Peoples R China 2.Univ Sci & Technol China, Sci Isl Branch, Grad Sch, Hefei 230026, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhang, Qiang,Song, Bo,Cai, Bin,et al. Design of Coordination System for Composite Mobile Robot Platform Oriented to Nuclear Fusion Vessel[J]. JOURNAL OF FUSION ENERGY,2021,40. |
| APA | Zhang, Qiang,Song, Bo,Cai, Bin,&Sun, Yuxiang.(2021).Design of Coordination System for Composite Mobile Robot Platform Oriented to Nuclear Fusion Vessel.JOURNAL OF FUSION ENERGY,40. |
| MLA | Zhang, Qiang,et al."Design of Coordination System for Composite Mobile Robot Platform Oriented to Nuclear Fusion Vessel".JOURNAL OF FUSION ENERGY 40(2021). |
入库方式： OAI收割
来源：合肥物质科学研究院
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