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研制了一种集监控、打捞功能于一体,可在高辐射、空间狭小、水体呈弱酸性的核电站反应堆水池底部进行作业的核电站多功能水下机器人。结合机器人功能需求,简述了机器人的结构及其特点。针对机械手的工作空间、水作用力分析等设计过程中的关键问题进行了详细分析,并通过仿真对分析结果进行了验证。样机试验结果表明机器人结构设计合理,能够满足设计要求。
A multi-function underwater robot for nuclear power plant was developed which integrates monitoring and salvage functions and can work at the bottom of reactor pool of nuclear power station with high radiation, small space and weak acidity. Combined with the functional requirements of the robot, the structure and characteristics of the robot are briefly described. Aiming at the key problems in the design process such as workspace of manipulator and water force analysis, the analysis results are verified by simulation. The prototype test results show that the robot structure design is reasonable and can meet the design requirements.