On-line precision control of CFETR multipurpose overload robot using deformation model
文献类型：期刊论文
| 作者 | Yao, Zhixin2,3,4; Wu, Huapeng2,4; Yang, Yang4; Cheng, Yong3,4 ; Pan, Hongtao4; Zhang, Tao1; Yin, Ruochen2,3,4
|
| 刊名 | FUSION ENGINEERING AND DESIGN
 |
| 出版日期 | 2022 |
| 卷号 | 174 |
| 关键词 | CMOR Online precision control Deformation model BPNN |
| ISSN号 | 0920-3796 |
| DOI | 10.1016/j.fusengdes.2021.112967 |
| 通讯作者 | Cheng, Yong(chengyong@ipp.ac.cn) |
| 英文摘要 | The China Fusion Engineering Test Reactor (CFETR) multipurpose overload robot (CMOR) is an important part of the CFETR remote handling (RH) system. It is a type of serial robot with a redundant degree of freedom and heavy loads. Due to its long cantilever and heavy load, the deformation is large during operation. However, the deformation of the CMOR in the RH application cannot be ignored. In this paper, an online precision control algorithm using a deformation model is presented. Using this algorithm, the deformations of the CMOR at a limited number of positions are calculated by finite element analysis and used as training datasets. The joint parameters and loads are used as inputs, and the actual position of the CMOR is the output of the Back Prop-agation Neural Network (BPNN). The deformation model is trained by the BPNN offline, which can calculate the actual position in the workspace. The deformation of the CMOR can be accurately obtained and rapidly compensated to realize online precision control. During the RH operation in the CFETR, the deformation was updated to 2 Hz and the precision control accuracy was up to 5 mm. |
| WOS关键词 | CONCEPT DESIGN ; MAINTENANCE |
| 资助项目 | Comprehensive Research Facility for Fusion Technology Program of China[2018-000052-73-01-001228] |
| WOS研究方向 | Nuclear Science & Technology |
| 语种 | 英语 |
| WOS记录号 | WOS:000784324000002 |
| 出版者 | ELSEVIER SCIENCE SA |
| 资助机构 | Comprehensive Research Facility for Fusion Technology Program of China |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/128477]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Cheng, Yong |
| 作者单位 | 1.Hefei Univ Technol, Sch Mech Engn, Hefei 230031, Peoples R China 2.Lappeenranta Univ Technol, Lappeenranta, Finland 3.Univ Sci & Technol China, Hefei 230026, Peoples R China 4.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Plasma Phys, Hefei 230031, Peoples R China |
| 推荐引用方式 GB/T 7714 | Yao, Zhixin,Wu, Huapeng,Yang, Yang,et al. On-line precision control of CFETR multipurpose overload robot using deformation model[J]. FUSION ENGINEERING AND DESIGN,2022,174. |
| APA | Yao, Zhixin.,Wu, Huapeng.,Yang, Yang.,Cheng, Yong.,Pan, Hongtao.,...&Yin, Ruochen.(2022).On-line precision control of CFETR multipurpose overload robot using deformation model.FUSION ENGINEERING AND DESIGN,174. |
| MLA | Yao, Zhixin,et al."On-line precision control of CFETR multipurpose overload robot using deformation model".FUSION ENGINEERING AND DESIGN 174(2022). |
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。