索驱动堆内检测机械臂设计及控制分析

Design and control analysis of cable-driven inspection arm in HTR-PM

球床模块式高温气冷堆堆芯构件检测机械臂采用索驱动的方式来避免内部恶劣环境对驱动单元的影响,由于索驱动传动距离长,故检测机械臂稳定性及控制精度受温度、钢丝绳张力等影响。通过在检测机械臂内部设计基于张力轮的绳索自锁装置,提高了机械臂的稳定性,并消除了长距离传动下温度变化等因素对索驱动传动精度的影响。综合考虑传动距离、弹性变形及机械臂关节耦合等影响,对钢丝绳位移进行误差分析,提出长距离下索驱动位移补偿控制策略。基于ADAMS/Cable模块建立索驱动机械臂虚拟样机,验证了位移补偿控制策略的准确性。

The inspection arm for core component in High Temperature Reactor-Pebble bed Modules(HTR-PM)uses the cable-driven method to avoid the influence of environments on the drive unit.Due to the long distance of the cable-driven,the stability and control accuracy of the inspection arm are affected by the temperature and the tension of the cable.The rope self-locking device based on the tension wheel was designed to improve the stability of the inspection arm and to eliminate the influence of the temperature.Considering the effects of transmission distance,elastic deformation and joint coupling,the long distance cable-driven displacement compensation control strategy was proposed with error analysis.Using the ADAMS/Cable module to establish the virtual prototype of the cable-driven inspection arm,the accuracy of the displacement compensation control strategy was verified.