Steam Generator Maintenance Robot Design and Obstacle Avoidance Path Planning

作     者：Yuan, Fengwei Ren, Gengzhen Deng, Qian Wang, Xiangjiang 

作者机构：Univ South China Coll Resource Environm & Safety Engn Hengyang 421001 Peoples R China Univ South China Coll Mech Engn Hengyang 421001 Peoples R China Univ South China Hunan Prov Key Lab Emergency Safety Technol & Equi Hengyang 421001 Peoples R China 

出 版 物：《SENSORS》 (Sensors)

年 卷 期：2025年第25卷第2期

页      面：514-514页

核心收录：

学科分类：0710[理学-生物学] 071010[理学-生物化学与分子生物学] 0808[工学-电气工程] 07[理学] 0804[工学-仪器科学与技术] 0703[理学-化学] 

基　　金：Research Foundation of the Education Bureau of Hunan Province, China Natural Science Foundation of Hunan Province [2024JJ7434] 21A0260 

主　　题：steam generator ten degrees of freedom plate plugging robot forward and inverse kinematics path planning 

摘      要：To solve the issue of inconvenient and dangerous manual operation during the installation and removal of the main pipe plugging plate in the steam generator in nuclear power plants, a ten-degree-of-freedom plugging robot was designed in the present study that includes a collaborative robotic arm coupled with a servo electric cylinder. By establishing a joint coordinate system for the robot model, a D-H parameter model for the plate plugging robot was established, and the forward and inverse kinematics were solved. The volume level approximate convex decomposition algorithm was used to fit the steam generator model with a convex packet, and an experimental simulation platform was constructed. Lastly, path planning was carried out by using the RRT algorithm, with the paths divided into three phases for analysis. The simulation results show that the path in the first stage is relatively smooth, and the parameter changes in each joint are relatively stable. The path in the second stage exhibits zigzagging, with the parameter change curve of joint 9 being particularly evident, and the path in the third stage still exhibits zigzagging-the parameter change curves of joints 3 and 10 are particularly evident. The results of the present study show that, although the paths show a certain degree of zigzagging in complex environments, the plate plugging robot is still able to automatically complete the plate plugging task while avoiding obstacles, which greatly reduces the risk posed to the operator when exposed to a high-radiation environment, in addition to having certain research and application value.