1. School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China 2. Hangzhou Jingye Intelligent Technology Limited Company, Hangzhou 310051, China 3. China Nuclear Power Engineering Limited Company, Beijing 100840, China
A new type of design scheme of a gearing chain-based manipulator was proposed, aiming at the existing problems of complex coupling relationship, exposed transmission parts, and low flexibility and low repeat positioning accuracy of the gearing chain-based manipulators. The scheme decoupled the kinematic relationship and simplified the two strongly correlated coupling relationships between the gear sets into one. Based on the simplification of the coupling logic relationship and the optimization of the structure, the design concepts of fully sealed joints and infinite rotation were realized. Then, the control algorithm for the gearing chain-based manipulator was derived through the combination of the kinematics analytical solution formula derivation and the analysis results of gear chain transmission logic coupling of the manipulator. Based on the coupling control algorithm, the motion space was analyzed and the control program of the manipulator was written to realize the flexibility verification and automatic control functions. Besides, test verification was carried out on the test system of the manipulator. Simulation analysis and experimental research result show that the coupling principle, structural design and control algorithm of the new manipulator are feasible and meet the needs of automation applications of manipulators in complex radioactive environments.
Fig.1Comparison of structure characteristics of two manipulators
Fig.2Comparison of transmission principle of manipulators
Fig.3External integrated power assembly of manipulator for hot cell
Fig.4Motion transmission structure of manipulator for hot cell
Fig.5Linkage coordinate system of manipulator for hot cell
i
αi?1/(°)
ai?1/mm
di/mm
θi/(°)
1
0
0
?c
θ1
2
90
0
0
θ2?90
3
0
a
0
θ3
4
0
b
d
θ4?90
5
90
0
?e
θ5
6
?90
0
?f
θ6
Tab.1D-H parameter table of manipulator for hot cell
Fig.6Motion coupling compensation principle of manipulator for hot cell
Fig.7Contrastive reachable workspace sections of two manipulators
Fig.83D reachable workspace contrast of two manipulators
Fig.10Client architecture and interface of manipulator for hot cell
Fig.9Control architecture diagram of manipulator for hot cell
Fig.11Virtual interface of manipulator for hot cell
Fig.12Key indicators test of manipulator for hot cell
Fig.13Test methods and results of position accuracy
Fig.14Deviation of each test point from mean spatial position
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