Design And Research Of Working Device For Nuclear Emergency Wrecker Robot

With the rapid development of China’s nuclear energy industry,the safety issues faced in the use and decommissioning of nuclear facilities have gradually received attention.The use of nuclear robots instead of artificial entry into the nuclear environment for emergency response operations has become the most effective nuclear emergency response method at present.The research topic of this article comes from the national "13th Five-Year" nuclear energy development project.The purpose is to design and develop a robot working device suitable for emergency clearance operations in nuclear facilities,workshops and equipment rooms.The designed working device is required to be flexible and reliable,with a variety of operations.Functional and easy to operate.In accordance with the needs of the subject,the article conducts in-depth investigation and analysis of the robot application environment,the existing multi-type obstacle removal robot and the structure of the quick change device.In response to the multi-functional and easy-tooperate requirements of the robot working device in the subject,a robot working device with flexible structure for nuclear emergency clearance operations and capable of replacing end tools through remote operation was designed and developed.The DH parameter method and Lagrangian dynamics equations are used to establish the kinematics and dynamics model of the working device,and the positive kinematics solution and the driving torque on each joint are obtained.The working device is analyzed for excavation,The load conditions of clamping,crushing and other working conditions.The structure model of the working device was established through the three-dimensional modeling software Solid Works,and ANSYS was used to simulate and verify the key postures of the working device,such as grasping and digging,and to analyze the possible vibration problems during the crushing operation.The experimental prototype of the working device of the nuclear emergency clearing robot was processed and manufactured,and the key index performance and operation ability of the working device were verified according to the expected indicators of the design.Through modeling calculation,structural analysis and design verification,design a working device in line with expectations index requirements.According to the designed working device structure,an experimental prototype was processed,and the function of the working device prototype was verified according to the design requirements.Through the design,analysis and experimental verification,the working device of nuclear emergency robot is designed,which is of great significance to the improvement of nuclear emergency technology in China.