Development and anti-swing control of an automated measurement robot system for multistud tensioning machine
Development and anti-swing control of an automated measurement robot system for multistud tensioning machine
复制标题
多螺柱张紧机自动测量机器人系统的开发及防摆控制
DOI：
10.1080/00223131.2017.1315971
复制
发表时间：
2017
影响因子：
1.2
通讯作者：
Yanjun Guo
中科院分区：
文献类型：
--
作者：
Haoyuan Li;Meng Li;Xingguang Duan;Liang Gao;Tengfei Cui;Yanjun Guo
在核电站检修中，多螺柱张紧机用于打开/密封反应堆压力容器的盖子。这一过程包括58个螺柱的伸长，其延伸值由测量仪表实时监测。传统上，仪表的放置是由人工完成的，这既耗时又具有放射性危险。本文介绍了一种由58个节点机器人和多个基于现场总线的分布式控制设备组成的自动化测量机器人系统，以完成危险作业现场的无人值守布表和数据采集任务。为了消除机器人末端钢丝绳仪表适配器的摆动现象，采用超不灵敏输入整形器进行机器人运动控制，使机器人的整体操作时间从传统的10分钟以上节省到不到22 S。
During nuclear power plant maintenance, the multi-stud tensioning machine is used to perform opening/sealing the cap of the reactor pressure vessel. This process incorporates elongations of 58 studs, whose extension values are monitored in real time by measurement meters. Conventionally, the placements of the meters are performed by human labor, which is time consuming and radioactively hazardous. In this paper, we introduce an automated measurement robot system, consisting of 58 node robots and multiple field bus based distributed control devices, to complete meter placement and data acquisition tasks without human involvement in the hazardous working site. In order to eliminate the swing phenomenon of the wire-driven meter adaptor on the robot distal end, extra-insensitive input shaper is employed for robot motion control, thus saving the overall operation time from traditionally over 10 minutes to less than 22 s.