摘要
托卡马克真空室内窥机器人主要用于携带摄像器材近距离观测托卡马克真空室第一壁的状况。基于EAST平台,设计了一种弧形关节臂托卡马克真空室内窥机器人;接着在已建立的机器人运动学正解和反解算法基础上,根据机器人不同工作位置,分别采用"点到点"和连续路径规划方法对机器人末端轨迹进行规划;最后整合轨迹规划数据,并将其导入ADAMS中实现真空室垂直断面扫描过程的仿真,得到机器人各关节的角位移,角速度,角加速度以及关节力矩随时间变化曲线,且曲线光滑连续。
Tokamak in-vessel inspection robot is mainly used to carry a camera for close observation of the first wall of the vacuum vessel.Based on EAST,a tokamak in-vessel inspection robot is designed.With the forward and inverse kinematic algorithms,two different trajectory planning methods,PTP（point to point）and CP（continuous path）,are used according to the different posture of the robot.The process of robot scanning the vessel is simulated by Adams using the trajectory planning data.The relational curves of the joint torque,angular displacement,angular velocity and angular acceleration are educed,and the curves are smooth and continuous.
出处
《机械设计与制造》
北大核心
2013年第1期265-267,共3页
Machinery Design & Manufacture
基金
国家"九五"重大科学工程-EAST项目资助(075ETY9301)
