新型3T1R力触觉主端操作并联机构设计与分析

Design and Analysis of a New Type of 3T1R Force Haptic Master Operating Parallel Mechanism

具有力触觉反馈主从操作的检测装置是提升核主泵螺栓在线检测准确率、避免核辐射健康损害的有效手段。针对核主泵中空螺栓检测超声探头三平移一转动的深孔运动特征,基于方位特征集并联机构拓扑综合方法,构造了一种新型4-HSOC{-R_(i1)//R_(i2)(-P^((4R)))//R_(i3)⊥R_(i4)-}力触觉主端并联操作机构;以矢量方程法求解了该机构正逆运动学,并进行了工作空间、运动特性分析和仿真;对应从端深孔检测作业特征进行了工作空间匹配分析和实验验证。该主端力触觉并联机构具有对称折叠性和良好的动平台转动能力,适用于竖向深孔扫查作业,契合从端核主泵螺栓检测装置检测需求,为核主泵螺栓检测装置对孔、扫查任务及主从端运动匹配提供了理论基础。

The master-slave operation detection device with force haptic feedback function is an effec-tive method to improve the online detection accuracy of the hollow bolts of reactor coolant pump(RCP)andavoid damage to human health caused by nuclear radiation.In the light of motion characteristics of the ultra-sonic testing probe for the hollow bolt detection,a new type of haptic master operation parallel mechanism(4-HSOC{-R_(i1)//R_(i2)(-P^((4R)))//R_(i3)⊥R_(i4)-})is constructed by the topology synthesis method of parallel mecha-nism based on position and orientation characteristics(POC)set.The forward and inverse kinematics of themechanism is solved by vector equation method,and furthermore the motion characteristics and workspace ofthe parallel mechanism are analyzed and simulated,the work space matching analysis and experimental verifica-tion are carried out for the characteristics of the deep hole detection operation at the end.The moving platform ofthe master force haptic parallel mechanism possesses symmetric folding property and good rotating ability.It issuitable for deep hole vertical scanning operation and meets the requirements of the slave bolt detection deviceof reactor coolant pump.It provides the theoretical basis for hole matching,scanning task and motion matchingof the master-slave bolt detection device for reactor coolant pump.