摘要
研制了一种集监控、打捞功能于一体,可在高辐射、空间狭小、水体呈弱酸性的核电站反应堆水池底部进行作业的核电站多功能水下机器人。结合机器人功能需求,简述了机器人的结构及其特点。针对机械手的工作空间、水作用力分析等设计过程中的关键问题进行了详细分析,并通过仿真对分析结果进行了验证。样机试验结果表明机器人结构设计合理,能够满足设计要求。
A multifunctional underwater robot for inspectin g and maintaining nuclear reactor vessel was developed. It can work at the bottom of the nuclear reactor vessel with high radiation and weak acid liquid. The structure and features of the robot were introduced in detail combined with robot functional requirements. Some key problems in the design process such as the workspace analysis of manipulator and hydrodynamics analysis were deeply analyzed. The analysis results were verified by the simulation. The prototype experimental results showed that the structure of the robot was reasonable and the robot can meet the design requirements completely.
出处
《机械设计》
CSCD
北大核心
2016年第6期14-20,共7页
Journal of Machine Design
基金
国家自然科学基金资助项目(61473113)
国家863计划资助项目(2011AA040201)
关键词
水下机器人
核电站
结构设计
水作用力
underwater robot
nuclear power plant
structural design
hydrodynamics
