Research On Design And Path Planning Of 8-dof Steam Generator Disassembly Robot For Block Plate

Today,with the rapid development of specialized robot,they are used in more and more fields as a tool to replace human work.Because of the harsh environment of some equipment in nuclear power plants,the demand for robots is also more urgent.The maintenance of steam generator is an important part of the maintenance work of nuclear power plant,so it is necessary to design a special robot for the disassembly and installation of the main entrance blocking plate in the water chamber.This paper explains the design,motion planning,trajectory planning and obstacle avoidance path planning of the disassembly robot.First,on the basis of analyzing the working condition of boards to tear open outfit,put forward a kind of can enter the water through narrow manhole interior department robot scheme,this scheme adopts a similar with Stanford robot,by seven rotational joint and a mobile joints of eight degrees of freedom robot structure can flexible movement in the special environment Finally through the Workbench to strain analysis,the main stress bar and experiment on the robot assembled robot.Second,according to the design of robot establish connecting rod coordinate system,by improving the d-h method to analyze coordinate transformation and establish the inverse kinematics equation and its solution,and use the robot simulation toolbox for inverse solution and to the simulation of the robot's working space,it is concluded that the three dimensional point cloud image and two-dimensional cross section diagram,determine the robot working radius satisfy the actual needs.Thirdly,on the basis of studying several common collision detection methods,the cylinder envelope method is selected to carry out collision detection for the robot,which provides a theoretical basis for the robot to enter the water chamber through the manhole.The optimal ant colony algorithm was used to plan the obstacle avoidance path of the robot,and the simulation model was established to verify the feasibility of the path.The joint space trajectory planning of the robot was carried out to study whether the rotation of each joint was smooth in the process of robot motion,so as to avoid the influence of vibration caused by joint velocity step on the final installation accuracy.Finally,the planned obstacle avoidance path of the robot is verified by physical experiments.After the relative position between the robot and the steam generator manhole is fixed and the set trajectory parameters are input into the PLC control cabinet of the control robot,the end-effector of the robot reaches the main road entrance through the evaporator manhole smoothly without collision with the manhole wall,which proves the practicability of the plate blocking robot.