新型核电站救援维护机器人运动学分析

Kinematics Analysis of New Nuclear Power Plant Rescue and Rescue Maintenance Robot

核电站维护机器人是提升核电站安全性能的重要装备,随着核电站领域的大力发展,对核电站维护机器人的需求日益增大。提出了一种新型的轮履复合驱动核电站维护机器人,在ADAMS环境中对机器人在核电站安全壳冷却塔通道内攀爬450 mm×80 mm台阶路面进行运动学分析。分析结果表明:轮履复合式机器人能完成连续450 mm×80 mm台阶攀爬动作,其结合了轮式、履带式、足式驱动机器人的优势。

Nuclear power plant maintenance robots are important equipment for improving the safety performance of nuclear power plants.With the vigorous development of nuclear power plants,the demand for nuclear power plant maintenance robots is increasing.A new type of wheel-wheel composite drive nuclear power plant maintenance robot is proposed.In the ADAMS environment,the kinematics analysis of the robot climbing the 450 mm×80 mm stepped road in the nuclear power plant cooling shell cooling tower channel.The analysis results show that the wheel-combined robot can complete the continuous 450 mm×80 mm step climbing action,which combines the advantages of wheeled,crawler and foot-driven robots.