Design Of Mobile Carrier For RCV Filter Operation Robot

With The rapid development of China's nuclear power industry,using robot technology to finish equipment daily maintenance,nuclear radiation detection and warning,nuclear accident handling and rescue has attracted much attention.The mobile robot is widely used in counter-terrorism EOD,space exploration,disaster rescue,intelligent plant and many other fields,it is also the most common form of nuclear power robot.Using the mobile robot to replace the RCV filter is a kind of daily maintenance work of nuclear power plant equipment,As the most important subsystem of the mobile robot,the mobile carrier is responsible for transportation,movement and other important tasks in the complex environment of nuclear power plant.For the typical environment within nuclear power plants,this paper completes the detailed design of the experimental prototype through conformational analysis,system integration,driven design,and finish the crucial analysis of electrical system.In order to further analyzing the key performance of the moving carrier,this paper researchs the kinematics and kinetics of the carrier,in this section,we consider the skid condition,outer track grouser grounding and centroid offset,and finally deduce the formulas to accurately calculate steering resistance torque,traction torque,steering angular velocity based on the traditional steering theory of tracked vehicle,also,we get the algorithm for solving the moment of swing arm when the robot overcome obstacles on the way.According to the above theoretical work,this paper gives steering boundary condition for tracked carrier,and take the slip ratio as the evaluation index to flexibility of steering.Further more,we analyze the stability of the carrier during stair climbing with the CoM method and establishe the geometry equation and centroid equation to get the feasible region of the centroid.The above work expect to lay a theoretical foundation for the design of the mobile carrier of nuclear power robot.Nuclear power robot operation generally use master-slave strategy,Which has high requirement for the experience and skills of the operator.This paper developed a automatic guidance system based on machine vision and fuzzy logic control which can realize the automatic operation and adapt to some high precision positioning task.What's more,we establishe guidance error model and put forward the key factors influencing the accuracy of guidance.Finally,based on the virtual prototyping technology,the paper designs the collaborative simulation strategy and carries out the simulation experiment to test the carrier prototype and verify the theoretical analysis.The experiment proves that the steering analysis theory we put foward is more close to the actual condition,for tracked robot,fuzzy control guidance strategy is a good choice and better than traditional PID control,movement in low speed,reasonable structure parameters,rapid responding of hardware are conducive to improve the tracking accuracy of carrier.This paper makes a bold innovation in the mechanical structure of the mobile carrier for nuclear robot,the design of the transmission and drive system compact the overall layout of the carrier,which is easy to realize the miniaturization of the carrier,the layout of the electronic device is more conducive for nuclear radiation protection.The analysis method of steering and stability is improved,which makes the calculation result more close to the actual situation.An automatic guidance system is developed for tracked carrier,and the path tracking error model is established,based on the model,the key factors affecting the guidance accuracy are analyzed.Finally,the virtual prototype experiment is carried out by the collaborative technology,and the performance of the carrier is studied and reserched.