面向核聚变舱探测的遥操纵蛇形机器人系统

Snake-like remote control robot system for inboard detection of nuclear fusion vessel

为了监测核聚变试验装置的日常运转状况,代替人类进入舱内完成探测作业任务,设计一种具有蛇形多关节结构的遥操纵机器人系统.该系统由前端的双重观测机构、中部的多个悬空机械臂和后端的直线轨道推进装置组成.通过对系统各部分的结构设计及功能分析,确立了组合式悬空机械臂各关节的主要参数指标.对机器人系统的探测工作空间以及机械臂的运动和力学特性进行了仿真分析,实际构建了机器人原理样机以及核聚变舱的模拟几何环境.对原理样机的基本运动及观测性能进行了实验测试,测试结果验证了所设计的机器人系统的可用性和有效性.

In order to monitor the daily operation of the nuclear fusion experimental device and complete the inboard detection work instead of human beings,a snake-like remote control robot system with multi-joint structure was presented.The system consisted of a dual observation device in the front,multi-joint suspending arms at the middle,and a linear propulsion unit at the end.The main parameters of the multi-joint suspending arms were determined through the structural design and functional analysis of each part of the system.The detection workspace of the robot system and the movement and mechanical properties of the arms were simulated and analyzed.A principle prototype of the robot and the geometry simulation environment of nuclear fusion vessel were constructed in order to test the basic motion and observation performance of the prototype.The availability and effectiveness of the proposed robot system were verified by the test results.