一种TECA转运车的并联举升机构

A Type of Parallel Lifting Mechanism for TECA Transfer Cask

为实现ITER(国际热核聚变实验堆计划)部件转运车TECA(Transfer Equipment CAsk)与托卡马克真空室或热室窗口的自动对接,提出了基于并联举升机构实现TECA的位姿调整的方法.设计了一种用于核环境下TECA转运车位姿调整的Stewart型并联举升机构,分析了该举升机构及其运动特征,建立了该机构的运动学模型,给出了逆运动学解析过程,并通过牛顿迭代法得到正运动学数值解.最后,采取双闭环的控制方式,以提高对接精度和速度.现场实验中该并联举升机构能够在大尺度范围下完成4.25 m×1.3 m×1.75 m的TECA转运车与真空室窗口的精确对接任务,并且能够达到0.88 mm以内的重复定位精度.结果表明该方法在求解平台位姿参数过程中具有速度快、精度高等优点.

In order to realize the TECA（Transfer Equipment CAsk） automatic docking with the Tokamak vacuum chamber or the hot chamber window in ITER（international thermonuclear experimental reactor）, a method for TECA posture adjustment based on the parallel lifting mechanism is proposed. A type of Stewart parallel lifting mechanism is designed for adjusting the posture of TECA transfer cask in nuclear environment. Firstly, a kinematics model is established after the structure and movement characteristics of the lifting mechanism are analyzed. Then, the process of inverse kinematics analysis is given, and the numerical solution of the forward kinematics is obtained by the Newton iteration method. Lastly, the double closed loop control algorithm is adopted to raise the docking speed and the precision. In field tests the parallel lifting mechanism can complete an accurate docking of the TECA transfer cask（4.25 m×1.3 m×1.75 m） with the vacuum chamber window at large scale, and the precision of repeated positioning is within 0.88 mm. The result shows that the proposed method is of fast speed and high precision in process of solving platform posture parameters.