Design of Coordination System for Composite Mobile Robot Platform Oriented to Nuclear Fusion Vessel

doi:10.1007/s10894-021-00311-7

	Design of Coordination System for Composite Mobile Robot Platform Oriented to Nuclear Fusion Vessel
	Zhang, Qiang 1; Song, Bo 1; Cai, Bin 2; Sun, Yuxiang 1
刊名	JOURNAL OF FUSION ENERGY
	2021-12-01
卷号	40
关键词	EAST nuclear fusion reactor vessel Multi-joint remote control system Composite multi-joint remote operation robot platform Bidirectional coordinated control Load-bearing performance test
ISSN号	0164-0313
DOI	10.1007/s10894-021-00311-7
通讯作者	Zhang, Qiang(zhangqiang@iim.ac.cn)
英文摘要	Regular maintenance of the nuclear fusion reactor vessel is essential. However, due to the complex physical and geometric conditions inside the reactor vessel, the implementation of this work is facing great difficulties. The existing cantilever robot or in-vessel remote operating system is unable to complete complex tasks because of its single function and poor system coordination. Based on the above research background and the practical application requirements, a composite multi-joint remote operation robot platform which can be used in the internal environment of the nuclear fusion vessel and has the ability of moving, observing and controlling is designed in this paper. The platform consists of three parts: the suspended multi-joint mobile robot system, the peristaltic multi-joint mobile robot system and the multi-robot coordinated control system. First of all, based on the physical model and environmental characteristics of the EAST nuclear fusion vessel, through the analysis of the functional requirements and design specifications of the robot platform, the modular mechanism design and function analysis of each component system are carried out. Secondly, through the analysis of the gravity compensation effect of the multi-robot coordinated control system for the suspended multi-joint manipulator, how to enhance the load capacity of the whole system through a bidirectional coordinated control is studied. Finally, in order to verify the effectiveness of the developed system, the basic motion and load-bearing performance of each component of the prototype are tested by actually building a simulation environment for the EAST nuclear fusion vessel. The experimental results show that the prototype of the robot platform has good kinematic and mechanical properties and load-bearing performance, and meets the design requirements in function.
资助项目	National Natural Science Foundation of China (NSFC)[61503361] ; Intelligent Robot Special Project of the National Key R&D Program of China[2017YFB1302301]
WOS关键词	REMOTE MAINTENANCE ; DYNAMICS ; CONSTRAINTS ; INSPECTION ; STABILITY ; WALKING
WOS研究方向	Nuclear Science & Technology
语种	英语
出版者	SPRINGER
WOS记录号	WOS:000708478300001
资助机构	National Natural Science Foundation of China (NSFC) ; Intelligent Robot Special Project of the National Key R&D Program of China
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/125639]
专题	中国科学院合肥物质科学研究院
通讯作者	Zhang, Qiang
作者单位	1.Chinese Acad Sci, Inst Intelligent Machines, Hefei Inst Phys Sci, Hefei 230031, Peoples R China 2.Univ Sci & Technol China, Sci Isl Branch, Grad Sch, Hefei 230026, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Qiang,Song, Bo,Cai, Bin,et al. Design of Coordination System for Composite Mobile Robot Platform Oriented to Nuclear Fusion Vessel[J]. JOURNAL OF FUSION ENERGY,2021,40.
APA	Zhang, Qiang,Song, Bo,Cai, Bin,&Sun, Yuxiang.(2021).Design of Coordination System for Composite Mobile Robot Platform Oriented to Nuclear Fusion Vessel.JOURNAL OF FUSION ENERGY,40.
MLA	Zhang, Qiang,et al."Design of Coordination System for Composite Mobile Robot Platform Oriented to Nuclear Fusion Vessel".JOURNAL OF FUSION ENERGY 40(2021).