基于双臂机械手的第一道墙自动维护系统的设计与实施

IF 2.6 3区工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY

Nuclear Engineering and Technology Pub Date : 2024-08-26 DOI:10.1016/j.net.2024.08.039

Ke Wu, Jun Zhang, Yong Cheng, Qingxi Yang, Hongtao Pan, Tao Wang, Aiming Liu, Hao Han

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引用次数: 0

摘要

本文提出了基于双臂的机器人维护系统框架，包括视觉识别、轨迹规划、力反馈控制和主从控制。为了满足自动化维护的要求，我们对第一块墙砖和支撑板的结构提出了改进设计，并为维护系统建立了一个完整的通信结构，可以适应不同的硬件版本。基于所提出的框架，建立了双臂机械手实验平台，演示了真空容器（VV）中毛毯 FW 的维护场景。实验结果验证了自动机器人维护系统应用于未来聚变反应堆的可行性。

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The design and implementation of automated maintenance system for the first-wall based on dual-arm manipulator

This paper proposed a framework of a dual-arm-based robotic maintenance system, including visual recognition, trajectory planning, force feedback control and master–slave control. To meet the requirements of automated maintenance, we proposed an improved design for the structures of the first wall tiles and support boards, and established a complete communication structure for the maintenance system that can adapt to different hardware versions. Based on the proposed framework, an experimental platform with dual-arm manipulator was established to demonstrate the maintenance scenario of the FW of the blanket in Vacuum Vessel (VV). The experimental result verified the feasibility of automated robotic maintenance system applied to the future fusion reactor.

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来源期刊

Nuclear Engineering and Technology 工程技术-核科学技术

CiteScore

4.80

自引率

7.40%

发文量

431

审稿时长

3.5 months

期刊介绍： Nuclear Engineering and Technology (NET), an international journal of the Korean Nuclear Society (KNS), publishes peer-reviewed papers on original research, ideas and developments in all areas of the field of nuclear science and technology. NET bimonthly publishes original articles, reviews, and technical notes. The journal is listed in the Science Citation Index Expanded (SCIE) of Thomson Reuters. NET covers all fields for peaceful utilization of nuclear energy and radiation as follows: 1) Reactor Physics 2) Thermal Hydraulics 3) Nuclear Safety 4) Nuclear I&C 5) Nuclear Physics, Fusion, and Laser Technology 6) Nuclear Fuel Cycle and Radioactive Waste Management 7) Nuclear Fuel and Reactor Materials 8) Radiation Application 9) Radiation Protection 10) Nuclear Structural Analysis and Plant Management & Maintenance 11) Nuclear Policy, Economics, and Human Resource Development