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Motion planning of a steam generator mobile tube-inspection robot
Biying Xu,Ge Li,Kuan Zhang,Hegao Cai,Jie Zhao,Jizhuang Fan 한국원자력학회 2022 Nuclear Engineering and Technology Vol.54 No.4
Under the influence of nuclear radiation, the reliability of steam generators (SGs) is an important factorin the efficiency and safety of nuclear power plant (NPP) reactors. Motion planning that remotely manipulates an SG mobile tube-inspection robot to inspect SG heat transfer tubes is the mainstream trendof NPP robot development. To achieve motion planning, conditional traversal is usually used for baseposition optimization, and then the A* algorithm is used for path planning. However, the proposedapproach requires considerable processing time and has a single expansion during path planning andplan paths with many turns, which decreases the working speed of the robot. Therefore, to reduce thecalculation time and improve the efficiency of motion planning, modifications such as the matrixmethod, improved parent node, turning cost, and improved expanded node were proposed in this study. We also present a comprehensive evaluation index to evaluate the performance of the improved algorithm. We validated the efficiency of the proposed method by planning on a tube sheet with square-typetube arrays and experimenting with Model SG.
Gravity balance mechanism for a spatial robotic manipulator
Yanyan Chen,Yubin Liu,Changle Li,Gangfeng Liu,Yanhe Zhu,Jie Zhao,Hegao Cai 대한기계학회 2016 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.30 No.2
A gravity balance mechanism for spatial robotic manipulator is proposed. In this design, a parallelogram linkage mechanism, pulleys and springs are utilized to accomplish the balance. As a passive structure, it needs no motors or actuators, and safety is another great highlight of the mechanism. The balance mechanism can solve the balance problem of both planar 2-link mechanism and spatial 2-link mechanism (a roll-pitch-yaw-roll 2-link mechanism) by adding a rotational degree of freedom. This is a more simple and effective method to solve the balance problem of spatial linkage system, especially the linkage system of multi-degree of freedom joint. And the mechanism can be extended to solve a multilink balance problem.