面向聚变堆维护的重载机械臂CMOR运动学算法设计及仿真

Design and Simulation of Heavy Load Robot CMOR Kinematics Algorithm for Fusion Reactor Maintenance

CMOR是一种应用于未来聚变堆部件维护的9自由度冗余重载机械臂系统首先介绍了重载机械臂构型,利用D-H法建立冗余重载机械臂坐标系,对机械臂的正运动学和逆运动学进行求解并在Matlab完成仿真;然后基于蒙特卡罗法在Matlab中计算了机械臂的工作空间,仿真结果显示可达空间满足±45°要求;最后针对重载臂稳定运动要求,对机械臂关节空间进行规划轨迹并在Matlab中进行验证,仿真结果显示机械臂末端轨迹平滑,满足要求,为下一步的遥操作维护机械臂的轨迹规划等问题提供了理论依据,这对聚变反应装置的维护具有重要意义。

The CMOR is a 9-DOF redundant heavy-duty manipulator system applied to the maintenance of future fusion reactor components.Firstly,the configuration of the heavy-duty manipulator is introduced.The D-H method is used to establish the coordinate system of the redundant heavy-duty manipulator,and the forward kinematics and inverse kinematics of the manipulator are solved.Then the workspace of the manipulator is calculated in Matlab based on Monte Carlo method,and the simulation results show that the reachable space meets the requirement of±45°.Finally,according to the requirements of stable movement of the heavy-haul arm,the trajectory of the manipulator joint space is planned and verified in Matlab.The simulation results show that the trajectory of the manipulator end is smooth and meets the requirements.It provides theoretical basis for the trajectory planning of mechanical arm,and it is of great significance to the maintenance of fusion reactor.