摘要
随着核电站废物最小化目标愈加严格,将核电站运行中产生的废水过滤器滤芯拆解减容后再进行处理是废物最小化的一个重要方向。针对废过滤器滤芯结构及拆解系统工作原理,对上料机械手运动过程进行了研究。根据上料机械手机械结构,建立了改进型D-H坐标系,并完成了根据各关节角求解上料机械手末端位姿的正运动学方程的推导、根据上料机械手末端位姿求解各关节角的逆运动学方程的推导。利用仿真软件MATLAB对机械手进行了建模,并对上料过程机械手的运动过程进行了仿真分析。仿真结果表明,正、逆运动学方程组的推导正确,机械手能够在规定的工作空间范围内按设计的末端轨迹完成对滤芯的提取。
With the increasingly strict goalof waste minimization in nuclear power plants,dismantlingand reducing the volume of waste water filter cartridges generated during the operation of nuclear power plants for subsequent treatment is an important direction for waste minimization.Based on the structure of the waste filter cartridge and the working principle of the dismantling system,the motion process of the feeding manipulator was studied.According to the mechanical structure of the feeding manipulator,an Modified D-H coordinate system was established,and the forward kinematics equations for solving the end-effector pose of the feeding manipulator based on each joint angle and the inverse kinematics equations for solving each joint angle basedon the end-effector pose of the feeding manipulator were derived.The simulation software MATLAB was used to model the manipulator and simulate the motion process of the feeding manipulator during the feeding process.The simulation results show that the forward and inverse kinematics equations are correctly derived,and the manipulator can complete the extraction of the filter cartridge according to the designed end-effector trajectory within the specified workspace.
作者
温毅
郝晓华
邵晓宙
康文凯
WEN Yi;Hao Xiao-hua;SHAO Xiao-zhou;KANG Wen-kai(China Institute for Radiation Protection,Taiyuan Shanxi O30000,China)
出处
《计算机仿真》
2025年第11期466-472,共7页
Computer Simulation
关键词
废水过滤器滤芯
滤芯拆解
机械手
正、逆运动学分析
仿真分析
Waste water filter element
Disassembly of filter element
manipulator
Forward and inverse kinematics analysis
simulation analysis
