Research on accurate morphology predictive control of CFETR multi-purpose overload robot
文献类型：期刊论文
| 作者 | Zuo, Congju2,3,4; Cheng, Yong2 ; Pan, Hongtao2; Qin, Guodong2; Zhou, Pucheng3; Xia, Liang3; Wang, Huan3; Zhao, Ruijuan3; Lv, Yongqiang3; Qin, Xiaoyan3
|
| 刊名 | NUCLEAR ENGINEERING AND TECHNOLOGY
 |
| 出版日期 | 2024-10-01 |
| 卷号 | 56 |
| 关键词 | CFETR multipurpose overload robot Remote handling Rigid-flexible coupling Morphology prediction |
| ISSN号 | 1738-5733 |
| DOI | 10.1016/j.net.2024.06.003 |
| 通讯作者 | Qin, Guodong(gdqin@ipp.ac.cn) ; Qin, Xiaoyan(19702@ahu.edu.cn) |
| 英文摘要 | The CFETR multipurpose overload robot (CMOR) is a critical component of the fusion reactor remote handling system. To accurately calculate and visualize the structural deformation and stress characteristics of the CMOR motion process, this paper first establishes a CMOR kinematic model to analyze the unfolding and working process in the vacuum chamber. Then, the dynamic model of CMOR is established using the Lagrangian method, and the rigid-flexible coupling modeling of CMOR links and joints is achieved using the finite element method and the linear spring damping equivalent model. The co-simulation results of the CMOR rigid-flexible coupled model show that when the end load is 2000 kg, the extreme value of the end-effector position error is more than 0.12 m, and the maximum stress value is 1.85 x 10(8) Pa. To utilize the stress-strain data of CMOR, this paper designs a CMOR morphology prediction control system based on Unity software. Implanting CMOR finite element analysis data into the Unity environment, researchers can monitor the stress strain generated by different motion trajectories of the CMOR robotic arm in the control system. It provides a platform for subsequent research on CMOR error compensation and extreme operation warnings. |
| WOS关键词 | DESIGN |
| 资助项目 | National Natural Science Foundation of China[12305251] ; National Natural Science Foundation of China[PFXY230101018] ; Postdoctoral Fellowship Program of CPSF[GZB20230770] ; 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:001315572400001 |
| 出版者 | KOREAN NUCLEAR SOC |
| 资助机构 | National Natural Science Foundation of China ; Postdoctoral Fellowship Program of CPSF ; Comprehensive Research Facility for Fusion Technology Program of China |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/135443]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Qin, Guodong; Qin, Xiaoyan |
| 作者单位 | 1.Anhui Univ, Inst Phys Sci & Informat Technol, Hefei 230031, Peoples R China 2.Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China 3.Army Acad Artillery & Air Def, Dept Informat Engn, Hefei 230031, Peoples R China 4.Univ Sci & Technol China, Hefei 230026, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zuo, Congju,Cheng, Yong,Pan, Hongtao,et al. Research on accurate morphology predictive control of CFETR multi-purpose overload robot[J]. NUCLEAR ENGINEERING AND TECHNOLOGY,2024,56. |
| APA | Zuo, Congju.,Cheng, Yong.,Pan, Hongtao.,Qin, Guodong.,Zhou, Pucheng.,...&Yang, Qingxi.(2024).Research on accurate morphology predictive control of CFETR multi-purpose overload robot.NUCLEAR ENGINEERING AND TECHNOLOGY,56. |
| MLA | Zuo, Congju,et al."Research on accurate morphology predictive control of CFETR multi-purpose overload robot".NUCLEAR ENGINEERING AND TECHNOLOGY 56(2024). |
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。