基于机器人技术的放射性药剂遥控分配装置的研制

Remote Radioisotope Distribution Device Based on Robotic

目的:研制一种基于机器人技术的放射性药剂遥控分配装置,以避免操作人员的放射性损伤。方法 :通过对Torobot机器人的性能分析以及对任务流程的解析,确定了整个装置由6自由度机械臂和二维运动平台构成,并且为之设计了相应的动作组。结果:构建了以Torobot机器人为主的硬件装置,编写了相应的控制程序,通过安装调试,该装置完成了预期的放射性药剂遥控分配任务。结论:该装置达到了设计要求,但精度有待提高,结构和流程还有很大的改进空间。

Objective To develop a remote radiation agent distribution device based on the robotic in order to eliminate the radiation injury to the staff. Methods Torobot robotic was analyzed for its performance and mission flow, which was found consisted of the manipulators with 6-degree of freedom and 2D motion platforms. Then corresponding action steps were designed accordingly, Results The hardware configuration was established with Torobot robotic as the core, and the control program was developed. The device could complete the mission for remote radioisotope distribution after installation and debugging. Conclusion The developed device meets the desired requirements, while has to be improved in accuracy, structure and flow.