An Intelligent Method For Structure Optimization Of Reactor Pressure Vessel Inspection Robot

In order to ensure the safe operation of reactor pressure vessels,we need to make full use of robots to detect reactor pressure vessels.The reactor pressure vessel inspection robot is a special robot that can perform large-scale detection in a highradiation heavy water environment.At present,the traditional artificial experience method is adopted for the optimization of its size structure,the efficiency is low and the optimization effect is general,and the whole detection period is long.In view of this situation,a more reasonable and intelligent structural optimization method for reactor pressure vessel inspection robot is studied in this paper.The main work is as follows:(1)In this paper,the characteristics of nuclear reactor pressure vessel and its inspection robot are analyzed,and the kinematics model of the inspection robot is constructed and solved.The research on robot workspace is carried out,and the object of its structure optimization is clarified.(2)In view of the shortcomings of current optimization methods,a structural intelligent optimization method combining BP neural network algorithm with mathematical programming method is proposed.First,according to the detection environment of nuclear pressure vessels,a rapid optimization plan generation method based on static constraints is established.Then,BP neural network algorithm is used to classify the feasibility.Finally,the mathematical programming method is used for further screening.Through experimental comparison and analysis,it is verified that the optimization method combining neural network algorithm with mathematical programming method can realize reliable structural optimization of inspection robot.(3)Based on the intelligent optimization method proposed in this paper,the structure optimization system platform of the reactor pressure vessel inspection robot is developed.The results show that the system has a certain practical application value.