【摘要】：核聚變能是一種可以從根本上解決人類能源問題的清潔能源。近年來,受控核聚變研究取得了若干突破性進展。為了保持核聚變試驗裝置的正常運轉(zhuǎn),需要對其反應(yīng)艙進行定期維護。然而,反應(yīng)艙內(nèi)部物理和幾何條件復雜。除了具有高溫、高真空和核輻射等特點之外,工作空間也異常狹小,維護人員不宜直接進入艙內(nèi)對相關(guān)部件進行操控。因此,亟需研制一種可以替代人完成相關(guān)探測和維護任務(wù)的遙操縱機器人系統(tǒng)。在上述背景下,本文針對實際應(yīng)用需求設(shè)計并實現(xiàn)了可用于反應(yīng)艙內(nèi)部環(huán)境的、具有移動、觀測和一定操控能力的多關(guān)節(jié)遙操縱機器人系統(tǒng)。本文的主要學術(shù)貢獻及創(chuàng)新點如下:1.以核聚變試驗裝置EAST為對象,設(shè)計并實現(xiàn)了一種適用于核聚變反應(yīng)艙內(nèi)部環(huán)境的、各關(guān)節(jié)間可同步協(xié)調(diào)運行的懸空式多關(guān)節(jié)移動機器人系統(tǒng)。在結(jié)構(gòu)上所述系統(tǒng)由前端的觀測機構(gòu)、中部的多個懸空機械臂和后端的直線軌道推送裝置所組成。在控制上則采用軌道推送加懸臂調(diào)整的復合操控方案。2.以核聚變試驗裝置EAST為對象,設(shè)計并實現(xiàn)了一種可在核聚變反應(yīng)艙底部V型槽面上行走的蠕動式多關(guān)節(jié)移動機器人系統(tǒng)。該系統(tǒng)采用鏈式結(jié)構(gòu)設(shè)計,由n個(n≥2)蠕動單元串聯(lián)構(gòu)成。每個蠕動單元為一個三段式結(jié)構(gòu),由兩個位于兩端對稱設(shè)置的前、后體節(jié)和一個可做軸向運動的中體節(jié)所組成。對蠕動式移動機器人系統(tǒng)的行走步態(tài)進行了規(guī)劃和分析,并據(jù)此構(gòu)建了相關(guān)的多軸協(xié)調(diào)運動控制方案。3.將前述懸空式多關(guān)節(jié)移動機器人系統(tǒng)和蠕動式多關(guān)節(jié)移動機器人系統(tǒng)進行組合,構(gòu)建了可通過雙向協(xié)調(diào)控制完成重載荷復雜操縱任務(wù)的多機器人協(xié)調(diào)控制系統(tǒng)。為此,在蠕動式多關(guān)節(jié)移動機器人系統(tǒng)上設(shè)計并實現(xiàn)了用于承載和支撐懸空式多關(guān)節(jié)機械臂的支撐機構(gòu)。借助于該支撐機構(gòu)可完成兩臺機器人之間的協(xié)調(diào)控制。這里,分析了所述支撐裝置對于懸空式多關(guān)節(jié)機械臂的重力補償效應(yīng),研究了如何通過雙向協(xié)調(diào)控制提升整個系統(tǒng)的負載能力。4.為了驗證所研發(fā)系統(tǒng)的有效性,利用實際研制的兩臺多關(guān)節(jié)移動機器人原理樣機開展了實驗研究。為此,實際搭建了 EAST核聚變反應(yīng)艙的模擬環(huán)境,并據(jù)此對原理樣機各組成部分的基本運動及承載性能進行了測試。實驗結(jié)果表明,所研制的機器人原理樣機具備良好的運動力學性能以及承載性能,在功能上滿足設(shè)計要求。
[Abstract]:Nuclear converging energy is a kind of clean energy which can fundamentally solve the problem of human energy. In recent years, some breakthroughs have been made in the study of controlled nuclear fusion. In order to maintain the normal operation of the nuclear fusion test device, the reactor chamber needs to be maintained regularly. However, the internal physical and geometric conditions of the reaction chamber are complex. In addition to the characteristics of high temperature, high vacuum and nuclear radiation, the workspace is also extremely narrow, maintenance personnel should not enter the cabin directly to control the relevant components. Therefore, there is an urgent need to develop a teleoperation robot system that can replace human to complete related detection and maintenance tasks. Under the above background, this paper designs and implements a multi-joint telecontrol robot system which can be used in the internal environment of the reaction cabin and has the capability of moving, observing and manipulating. The main contributions and innovations of this paper are as follows: 1. Taking the nuclear fusion test device EAST as the object, a suspension multi-joint mobile robot system is designed and implemented, which is suitable for the internal environment of the nuclear fusion reaction chamber and can operate synchronously and harmoniously among the joints. The structure of the system consists of a front end observation mechanism, a plurality of cantilever manipulators in the middle and a linear orbit push device at the back end. In the control of the use of rail push and cantilever adjustment of the composite control scheme. 2. A peristaltic multi-joint mobile robot system which can walk on the V-groove surface at the bottom of the nuclear fusion reaction chamber is designed and implemented with the nuclear fusion test device EAST as the object. The system is designed with chain structure and consists of n (n 鈮，

本文編號：2422255