核电站巡检履带机器人力学分析与运动规划

Mechanical Analysis and Motion Planning of the Crawler Robot for Nuclear Power Plant Inspection

履带机器人具有强越障的结构特点,能够在核电站中代替人进行高频次巡检等任务,而履带机器人的输出特性和越障过程的姿态是决定机器人越障能力的两个关键因素。针对核电站复杂环境的越障需求,设计了一种双摆臂履带机器人,以阶梯和斜坡等障碍物作为分析障碍物,建立了双摆臂履带机器人的输出力矩计算模型,以楼梯作为核电站的关键障碍物,进行了双摆臂履带机器人的越障姿态规划,并在双摆臂履带机器人平台上进行了实验测试,验证了履带机器人的越障能力。

The crawler robot has the structural characteristics of strong obstacle crossing, and can replace humans in nuclear power plants to perform high-frequency inspections and other tasks. The output characteristics of the crawler robot and the attitude of the obstacle crossing process are two key factors that determine the robot’s obstacle crossing ability. In response to the obstacle crossing requirements of the complex environment of nuclear power plants, a dual-swing arm crawler robot is designed. Taking obstacles such as stairs and slopes as the analysis obstacles, the output torque calculation model of the dual-swing arm crawler robot is established. Taking the stairs as the key obstacle of the nuclear power plant, the obstacle crossing attitude planning of the dual-swing arm crawler robot is carried out. Experimental tests are carried out on the dual-swing arm crawler robot platform to verify the capabilities of the crawler robot.