Strctural Design And Motion Mechanism Of Truss Manipulator For Nuclear Power RCV

Due to the growing resource shortages in our country,the market share of nuclear power as a type of clean energy is increasing.In order to improve the efficiency of operation and reduce the radiation damage of operators,it is urgent to develop a batch of nuclear power plant application robots with independent property rights that can be put into application.This paper is supported by the National Natural Science Foundation of China(6147311),aiming at the task of RCV filter replacement under nuclear power plant conditions,and drawing on domestic and foreign research experience,a truss manipulator based on planetary gear train is designed.It is verified by simulation and experiment.The main work and innovative achievements of this research are as follows:Firstly,according to the RCV filter replacement working environment in the nuclear environment,combined with the need to complete the versatile features in the robot operation,a truss manipulator based on the planetary gear train is designed.The main components of the manipulator are decomposed and their working principles and characteristics are analyzed.The process of filter replacement by the robot in the robot are studied.Secondly,the hinge point and size of the turret manipulator’s claw structure are analyzed.The mathematical model of the claw is established by D-H method,and the mathematical model of the claw of the opponent is analyzed,and a method for kinematics and dynamics analysis of such side-rod claws by means of structural size relationship is proposed.The kinematics and dynamics simulation of the claw model are carried out with Adams,and the simulation curves are analyzed.Considering that there is a slight change in the pose of the claw during the movement,the differential motion is solved and its Jacobian matrix is obtained.Thirdly,the disassembly and assembly mechanism of the truss manipulator planetary gear train is analyzed.The number of teeth of each gear is selected,and the meshing force curve is obtained by combining the bolt tightening torque,and established a virtual prototype model.The performance parameters of the toothed material are obtained by the contact load method.The time-varying meshing force curve is obtained by means of Adams simulation.The average value of the simulation curve is basically consistent with the meshing force,which proves that the planetary gear train disassembly structure can make the bolt reach the desired pre-tightening force.Finally,built a robot control system and designed a human-computer interaction interface,and analyze the function of each window in the interface.The prototype of the truss manipulator is made,and then the performance of the robot disassembly and assembly and the clamping are tested according to the mechanical manual condition parameters,then,the limit speed and limit position of the drive motor and the limit positions of each part when the robot is disassembled,clamped,etc.are determined.