Steam Generator Maintenance Robot Design and Obstacle Avoidance Path Planning
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 cou...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/2/514 |
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| author | Fengwei Yuan Gengzhen Ren Qian Deng Xiangjiang Wang |
| author_facet | Fengwei Yuan Gengzhen Ren Qian Deng Xiangjiang Wang |
| author_sort | Fengwei Yuan |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-adc66e71dd4d41cc97974965e50d889d |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-adc66e71dd4d41cc97974965e50d889d2025-01-24T13:49:12ZengMDPI AGSensors1424-82202025-01-0125251410.3390/s25020514Steam Generator Maintenance Robot Design and Obstacle Avoidance Path PlanningFengwei Yuan0Gengzhen Ren1Qian Deng2Xiangjiang Wang3College of Resource Environmental and Safety Engineering, University of South China, Hengyang 421001, ChinaCollege of Mechanical Engineering, University of South China, Hengyang 421001, ChinaCollege of Mechanical Engineering, University of South China, Hengyang 421001, ChinaCollege of Resource Environmental and Safety Engineering, University of South China, Hengyang 421001, ChinaTo 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.https://www.mdpi.com/1424-8220/25/2/514steam generatorten degrees of freedomplate plugging robotforward and inverse kinematicspath planning |
| spellingShingle | Fengwei Yuan Gengzhen Ren Qian Deng Xiangjiang Wang Steam Generator Maintenance Robot Design and Obstacle Avoidance Path Planning Sensors steam generator ten degrees of freedom plate plugging robot forward and inverse kinematics path planning |
| title | Steam Generator Maintenance Robot Design and Obstacle Avoidance Path Planning |
| title_full | Steam Generator Maintenance Robot Design and Obstacle Avoidance Path Planning |
| title_fullStr | Steam Generator Maintenance Robot Design and Obstacle Avoidance Path Planning |
| title_full_unstemmed | Steam Generator Maintenance Robot Design and Obstacle Avoidance Path Planning |
| title_short | Steam Generator Maintenance Robot Design and Obstacle Avoidance Path Planning |
| title_sort | steam generator maintenance robot design and obstacle avoidance path planning |
| topic | steam generator ten degrees of freedom plate plugging robot forward and inverse kinematics path planning |
| url | https://www.mdpi.com/1424-8220/25/2/514 |
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