核环境多关节蛇形机械臂的运动控制系统设计

doi:10.6040/j.issn.1672-3961.0.2018.237

摘要/Abstract

摘要：

以核聚变反应舱的探测和维护作业为例,设计一种具有多关节串联式结构的蛇形遥操纵机械臂系统,结构采用轨道推送加悬臂调整的复合式操控方案。针对机械臂执行全舱作业的运动需求,对机械臂运动轨迹进行仿真分析。设计包括路径规划与轨迹控制等的机械臂运动控制算法,构建各关节在运动学上能够同步运行的多轴协调控制系统。通过搭建模拟舱几何环境,对机械臂进行运动测试,完成关节旋转角度的控制精度评估。构建机械臂系统的重力补偿模块,通过柔性模型的仿真验证对机械臂系统的末端定位精度加以评估。测试结果验证了运动控制系统的有效性。

关键词: 核聚变反应舱, 蛇形机械臂, 路径规划, 多轴协调控制, 控制精度

Abstract:

Based on the detection and maintenance work in the nuclear fusion reactor vessel as an example, a snake-like remote control manipulator with multi-joint series structure was presented, which adopted a composite control plan based on track push pull and adjustment with suspending arms. Aiming at the demand of the manipulator to carry out the whole vessel operation, the trajectory of the manipulator was simulated and analyzed. A motion control algorithm including path planning and trajectory control was designed, and a multi-axis coordination control system was established. The motion of the manipulator was tested inside the geometric simulation vessel environment, and the control accuracy of the joint rotation angle was evaluated. The gravity compensation module of the manipulator system was constructed, and the terminal positioning accuracy of the manipulator system was evaluated by the simulation of the flexible model. The test results verified the effectiveness of the motion control system.

Key words: nuclear fusion reactor vessel, snake-like manipulator, path planning, multi-axis coordinate control, control precision

中图分类号:

TP242

张强. 核环境多关节蛇形机械臂的运动控制系统设计[J]. 山东大学学报 (工学版), 2018, 48(6): 122-131.

Qiang ZHANG. Motion control system design of multi-joint snake-like manipulator for nuclear environment[J]. Journal of Shandong University(Engineering Science), 2018, 48(6): 122-131.

图/表 17

图1

图2

图3

图4

图5

图6

图7

图8

表1

图9

图10

图11

图12

图13

图14

图15

图16

参考文献 20

1	PAMPIN R , DAVIS A , IZQUIERDO J , et al. Developments and needs in nuclear analysis of fusion technology[J]. Fusion Engineering and Design, 2013, 88 (6): 454- 460.
2	CHOI C , TESINI A , SUBRAMANIAN R , et al. Multi-purpose deployer for ITER in-vessel maintenance[J]. Fusion Engineering and Design, 2015, 98 (10): 1448- 1452.
3	GARGIULO L , BAYETTI P , BRUNO V , et al. Operation of an ITER relevant inspection robot on Tore Supra tokamak[J]. Fusion Engineering and Design, 2009, 84 (6): 220- 223.
4	何强.面向托卡马克腔第一壁维护的遥操作机械臂机构设计及分析[D].上海:上海交通大学, 2013: 9-15.
	HE Qiang. Mechanism design and analysis of teleoperated manipulator for the maintenance of Tokamak first wall[D]. Shanghai: Shanghai Jiao Tong University, 2013: 9-15.
5	肖锡臻.面向托卡马克维护的多视觉遥操作机器人环境感知技术研究[D].沈阳:中国科学院沈阳自动化研究所, 2015: 11-40.
	XIAO Xizhen. Research on environmental perception for tele-operation maintenance of Tokamak using multi-vision approach[D]. Shenyang: Shenyang Institute of Automation Chinese Academy of Sciences, 2015: 11-40.
6	HAIST B , MILLS S , LOVING A . Remote handling preparations for JET EP2 shutdown[J]. Fusion Engineering and Design, 2009, 84 (6): 875- 879.
7	DAMIANI C , ANNINO C , BALAGUE S , et al. The European contribution to the ITER remote maintenance[J]. Fusion Engineering and Design, 2014, 89 (10): 2251- 2256.
8	LI Zhang, ZANG Xizhe, SUO Laichun, et al. Static analysis and modal analysis of heavy-load manipulator based on ANSYS[C]//Proc of ICMECT 2014. Zurich, Switzerland: Trans Tech Publications, 2014: 1059-1064.
9	ZHANG Qiang , ZHOU Ling , WANG Zengfu . Design and implementation of wormlike creeping mobile robot for EAST remote maintenance system[J]. Fusion Engineering and Design, 2017, 118, 81- 97. doi: 10.1016/j.fusengdes.2017.03.054
10	张强, 吴宝元, 郭伟斌, 等. 面向核聚变舱探测的遥操纵蛇形机器人系统[J]. 华中科技大学学报(自然科学版), 2017, 45 (10): 43- 48.
	ZHANG Qiang , WU Baoyuan , GUO Weibin , et al. Snake-like remote control robot system for inboard detection of nuclear fusion vessel[J]. Journal of Huazhong University of Science and Technology (Natural Science Edition), 2017, 45 (10): 43- 48.
11	武遵.适用于核聚变反应舱的多关节机械臂关键技术研究[D].合肥:中国科学技术大学, 2016: 35-37.
	WU Zun. Study on key technology of multi-joint manipulator for vessel of fusion device[D]. Hefei: University of Science and Technology of China, 2016: 35-37.
12	王美玲.面向救援任务的双臂机器人协作运动规划与控制方法研究[D].合肥:中国科学技术大学, 2015: 65-85.
	WANG Meiling. Research on cooperative motion planning and control of a redundant dual-arm robot for rescuing tasks[D]. Hefei: University of Science and Technology of China, 2015: 65-85.
13	张强.多关节核环境移动机器人平台的机构设计与实现[D].合肥:中国科学技术大学, 2017: 115-119.
	ZHANG Qiang. Mechanism design and implementation of multi-joint mobile robot platform for nuclear environment[D]. Hefei: University of Science and Technology of China, 2017: 115-119.
14	徐文福, 强文义, 李成, 等. 自由漂浮空间机器人路径规划研究进展[J]. 哈尔滨工业大学学报, 2009, 41 (11): 1- 12. doi: 10.3321/j.issn:0367-6234.2009.11.001
	XU Wenfu , QIANG Wenyi , LI Cheng , et al. Research progress of path planning for free floating space robots[J]. Journal of Harbin Institute of Technology, 2009, 41 (11): 1- 12. doi: 10.3321/j.issn:0367-6234.2009.11.001
15	ALI A A , RASHID A T , FRASCA M , et al. An algorithm for multi-robot collision-free navigation based on shortest distance[J]. Robotics and Autonomous Systems, 2016, 75 (1): 119- 128.
16	ZHANG Yong , GONG Dunwei , ZHANG Jianhua . Robot path planning in uncertain environment using multi-objective particle swarm optimization[J]. Neurocomputing, 2013, 103, 172- 185. doi: 10.1016/j.neucom.2012.09.019
17	YANG Yang , SONG Yuntao , PAN Hongtao , et al. Visual servo simulation of EAST articulated maintenance arm robot[J]. Fusion Engineering and Design, 2016, 104, 28- 33. doi: 10.1016/j.fusengdes.2016.01.024
18	PANFILOV P B , KOROLEV S V . Integration of 3D dynamic models being created by 3D machine vision system into telerobotics applications[J]. Automation and Remote Control, 2011, 72 (5): 1102- 1113. doi: 10.1134/S0005117911050195
19	VIDILINA O V, VOROPAEVA N V. Reduction of flexible joint manipulator mathematical model[C]// Proc of MM-ITNT 2017. Nordrhein-Westfalen, Germany: CEUR-WS.org, 2017: 249-253.
20	王琨, 骆敏舟, 曹毅, 等. 基于多变量预测补偿的机械臂精度提升方法[J]. 电子测量与仪器学报, 2014, 28 (11): 1213- 1221.
	WANG Kun , LUO Minzhou , CAO Yi , et al. Promoting method for manipulator accuracy based on multi-variable prediction and compensation[J]. Journal of Electronic Measurement and Instrument, 2014, 28 (11): 1213- 1221.

多维度评价

Viewed

Full text

Abstract

Cited

Shared

Discussed

(°)
关节序号	绝对角度	相对角度	转动刻度	顺/逆时针	θ_r
1	18.92		0	逆
2	17.85	1.07	1 000	逆	1.07
3	16.62	1.23	1 000	逆	1.23
4	15.41	1.21	1 000	逆	1.21
5	14.37	1.04	1 000	逆	1.04
6	11.90	2.47	2 000	逆	1.23
7	4.14	7.76	6 000	逆	1.29
8	-3.80	7.94	6 000	逆	1.32
9	11.38	15.18	12 000	顺	1.27

[1]	李晓辉,刘小飞,孙炜桐,赵毅,董媛,靳引利. 基于车辆与无人机协同的巡检任务分配与路径规划算法[J]. 山东大学学报 (工学版), 2025, 55(5): 101-109.
[2]	赵红专,张鑫,张蓓聆,展新,李文勇,袁泉,王涛,周旦. 基于改进人工势场的智能车动态安全椭圆路径规划方法[J]. 山东大学学报 (工学版), 2025, 55(3): 46-57.
[3]	韩毅,刘毅超,关甜,兰理文,汤宁业. 改进A^*和动态窗口法的无人车路径规划[J]. 山东大学学报 (工学版), 2025, 55(3): 16-24.
[4]	张飞凯,夏拥军,秦剑,游溢,彭飞. 基于A^*算法的输电线路组塔施工吊装路径规划方法[J]. 山东大学学报 (工学版), 2024, 54(3): 141-148.
[5]	黄健堃,薛钢,刘延俊,王雨,李厚池,白发刚. 基于改进Bi-RRT算法的机器鱼路径规划方法[J]. 山东大学学报 (工学版), 2024, 54(1): 74-82.
[6]	赵天怀,王目树,潘为刚,康超,秦石铭,徐飞. 挖掘机智能辅助施工系统设计[J]. 山东大学学报 (工学版), 2023, 53(4): 163-172.
[7]	张飞凯,黄永忠,李连茂,秦剑,刘晨. 基于Dijkstra算法的货运索道路径规划方法[J]. 山东大学学报 (工学版), 2022, 52(6): 176-182.
[8]	王雨,刘延俊,贾华,薛钢. 基于强化RRT算法的机械臂路径规划[J]. 山东大学学报 (工学版), 2022, 52(6): 123-130.
[9]	肖浩,廖祝华,刘毅志,刘思林,刘建勋. 实际环境中基于深度Q学习的无人车路径规划[J]. 山东大学学报 (工学版), 2021, 51(1): 100-107.
[10]	李彩虹,方春,王志强,夏斌,王凤英. 基于超混沌同步控制的移动机器人全覆盖路径规划[J]. 山东大学学报 (工学版), 2019, 49(6): 63-72.
[11]	周风余, 万方, 焦建成, 边钧健. 家庭陪护机器人自主充电系统研究与设计[J]. 山东大学学报 (工学版), 2019, 49(1): 55-65.
[12]	严宣辉, 肖国宝*. 基于定长实数路径编码机制的移动机器人路径规划[J]. 山东大学学报(工学版), 2012, 42(1): 59-65.
[13]	刘彬,张仁津. 一种采用两段粒子群优化的路径规划方法[J]. 山东大学学报(工学版), 2012, 42(1): 12-18.
[14]	陈明志1,许春耀2,陈健2,余轮2. 基于语义信息的虚拟环境路径规划[J]. 山东大学学报(工学版), 2011, 41(4): 106-112.