【摘要】：核聚變能是一種可以從根本上解決人類(lèi)能源問(wèn)題的清潔能源。近年來(lái),受控核聚變研究取得了若干突破性進(jìn)展。為了保持核聚變?cè)囼?yàn)裝置的正常運(yùn)轉(zhuǎn),需要對(duì)其反應(yīng)艙進(jìn)行定期維護(hù)。然而,反應(yīng)艙內(nèi)部物理和幾何條件復(fù)雜。除了具有高溫、高真空和核輻射等特點(diǎn)之外,工作空間也異常狹小,維護(hù)人員不宜直接進(jìn)入艙內(nèi)對(duì)相關(guān)部件進(jìn)行操控。因此,亟需研制一種可以替代人完成相關(guān)探測(cè)和維護(hù)任務(wù)的遙操縱機(jī)器人系統(tǒng)。在上述背景下,本文針對(duì)實(shí)際應(yīng)用需求設(shè)計(jì)并實(shí)現(xiàn)了可用于反應(yīng)艙內(nèi)部環(huán)境的、具有移動(dòng)、觀測(cè)和一定操控能力的多關(guān)節(jié)遙操縱機(jī)器人系統(tǒng)。本文的主要學(xué)術(shù)貢獻(xiàn)及創(chuàng)新點(diǎn)如下:1.以核聚變?cè)囼?yàn)裝置EAST為對(duì)象,設(shè)計(jì)并實(shí)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(yùn)行的懸空式多關(guān)節(jié)移動(dòng)機(jī)器人系統(tǒng)。在結(jié)構(gòu)上所述系統(tǒng)由前端的觀測(cè)機(jī)構(gòu)、中部的多個(gè)懸空機(jī)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(fù)合操控方案。2.以核聚變?cè)囼?yàn)裝置EAST為對(duì)象,設(shè)計(jì)并實(shí)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(dòng)式多關(guān)節(jié)移動(dòng)機(jī)器人系統(tǒng)。該系統(tǒng)采用鏈?zhǔn)浇Y(jié)構(gòu)設(shè)計(jì),由n個(gè)(n≥2)蠕動(dòng)單元串聯(lián)構(gòu)成。每個(gè)蠕動(dòng)單元為一個(gè)三段式結(jié)構(gòu),由兩個(gè)位于兩端對(duì)稱設(shè)置的前、后體節(jié)和一個(gè)可做軸向運(yùn)動(dòng)的中體節(jié)所組成。對(duì)蠕動(dòng)式移動(dòng)機(jī)器人系統(tǒng)的行走步態(tài)進(jìn)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(yùn)動(dòng)控制方案。3.將前述懸空式多關(guān)節(jié)移動(dòng)機(jī)器人系統(tǒng)和蠕動(dòng)式多關(guān)節(jié)移動(dòng)機(jī)器人系統(tǒng)進(jìn)行組合,構(gòu)建了可通過(guò)雙向協(xié)調(diào)控制完成重載荷復(fù)雜操縱任務(wù)的多機(jī)器人協(xié)調(diào)控制系統(tǒng)。為此,在蠕動(dòng)式多關(guān)節(jié)移動(dòng)機(jī)器人系統(tǒng)上設(shè)計(jì)并實(shí)現(xiàn)了用于承載和支撐懸空式多關(guān)節(jié)機(jī)械臂的支撐機(jī)構(gòu)。借助于該支撐機(jī)構(gòu)可完成兩臺(tái)機(jī)器人之間的協(xié)調(diào)控制。這里,分析了所述支撐裝置對(duì)于懸空式多關(guān)節(jié)機(jī)械臂的重力補(bǔ)償效應(yīng),研究了如何通過(guò)雙向協(xié)調(diào)控制提升整個(gè)系統(tǒng)的負(fù)載能力。4.為了驗(yàn)證所研發(fā)系統(tǒng)的有效性,利用實(shí)際研制的兩臺(tái)多關(guān)節(jié)移動(dòng)機(jī)器人原理樣機(jī)開(kāi)展了實(shí)驗(yàn)研究。為此,實(shí)際搭建了 EAST核聚變反應(yīng)艙的模擬環(huán)境,并據(jù)此對(duì)原理樣機(jī)各組成部分的基本運(yùn)動(dòng)及承載性能進(jìn)行了測(cè)試。實(shí)驗(yàn)結(jié)果表明,所研制的機(jī)器人原理樣機(jī)具備良好的運(yùn)動(dòng)力學(xué)性能以及承載性能,在功能上滿足設(shè)計(jì)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(hào)：2422255