水下相关组件单棒转移机械手的轨迹规划与控制

Trajectory Planning and Control of Underwater Single Rod Transfer Manipulator for Control Element Assembly

针对核电厂相关组件水下缩容工艺过程中单棒的水下转移问题,规划了单棒转移机械手末端的运动轨迹,设计了机械手的控制系统,以保证单棒稳定、可靠转移。建立了单棒转移机械手的正、逆运动学模型,分析了转移单棒时的水对单棒的作用力,并推导了其力学模型,针对机械手末端运动的平稳性要求,使用了贝塞尔曲线进行机械手末端轨迹规划,并设计了带绕流阻力补偿的PD控制算法。通过对机械手进行仿真分析,验证了控制系统性能和机械手末端轨迹规划的有效性。

Aiming at the underwater transfer of rod in the underwater volume reduction process of control element assembly of nuclear power plant,the motion trajectory of the single rod transfer manipulator is planned,the control system of the manipulator is designed to ensure the stable and reliable transfer of single rod.The forward and inverse kinematics models of the single rod transfer manipulator are established,the force of water on the single rod when transferring the single rod is analyzed,and its mechanical model is deduced.According to the stability requirements of the end motion of the manipulator,the Bezier curve is used for the end trajectory planning of the manipulator,and the PD control algorithm with flow resistance compensation is designed.Through the simulation analysis of the manipulator,the performance of the control system and the effectiveness of the manipulator end trajectory planning are verified.