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
Ke Wu, Jun Zhang, Yong Cheng, Qingxi Yang, Hongtao Pan, Tao Wang, Aiming Liu, Hao Han
{"title":"基于双臂机械手的第一道墙自动维护系统的设计与实施","authors":"Ke Wu, Jun Zhang, Yong Cheng, Qingxi Yang, Hongtao Pan, Tao Wang, Aiming Liu, Hao Han","doi":"10.1016/j.net.2024.08.039","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":19272,"journal":{"name":"Nuclear Engineering and Technology","volume":null,"pages":null},"PeriodicalIF":2.6000,"publicationDate":"2024-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"The design and implementation of automated maintenance system for the first-wall based on dual-arm manipulator\",\"authors\":\"Ke Wu, Jun Zhang, Yong Cheng, Qingxi Yang, Hongtao Pan, Tao Wang, Aiming Liu, Hao Han\",\"doi\":\"10.1016/j.net.2024.08.039\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":19272,\"journal\":{\"name\":\"Nuclear Engineering and Technology\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":2.6000,\"publicationDate\":\"2024-08-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Nuclear Engineering and Technology\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.1016/j.net.2024.08.039\",\"RegionNum\":3,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"NUCLEAR SCIENCE & TECHNOLOGY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Nuclear Engineering and Technology","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1016/j.net.2024.08.039","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"NUCLEAR SCIENCE & TECHNOLOGY","Score":null,"Total":0}
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。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
Nuclear Engineering and Technology
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
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信