Design of gearing chain-based manipulator for post-processing

doi:10.3785/j.issn.1008-973X.2022.05.003

Journal of ZheJiang University (Engineering Science)

2022, Vol. 56

Issue (5): 864-872 DOI: 10.3785/j.issn.1008-973X.2022.05.003

Design of gearing chain-based manipulator for post-processing

Ding-can JIN1,2(

),Jun-xia JIANG1,*(

),Jian-liang LAI2,Jie-feng JIN2,De-hui WU3,Chen-lin SHEN3,Wen-bo SONG3

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

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Abstract

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.

Key words： complex coupling relationship manipulator fully sealed joints gear chain radioactive environment

Received: 19 May 2021 Published: 31 May 2022

CLC:

TL 292

Fund: 2022年度浙江省“尖兵”“领雁”研发攻关计划项目（2022C01054）

Corresponding Authors: Jun-xia JIANG E-mail: jindingcan@163.com;junxia.jiang@126.com

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	Ding-can JIN
	Jun-xia JIANG
	Jian-liang LAI
	Jie-feng JIN
	De-hui WU
	Chen-lin SHEN
	Wen-bo SONG

Cite this article:

Ding-can JIN,Jun-xia JIANG,Jian-liang LAI,Jie-feng JIN,De-hui WU,Chen-lin SHEN,Wen-bo SONG. Design of gearing chain-based manipulator for post-processing. Journal of ZheJiang University (Engineering Science), 2022, 56(5): 864-872.

URL:

https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2022.05.003 OR https://www.zjujournals.com/eng/Y2022/V56/I5/864

后处理全齿轮传动机械臂的设计

针对纯齿轮传动的机械臂存在的耦合关系复杂、传动件外露、灵活度低和重复定位精度低等问题，提出新型全齿轮传动的机械臂设计方案. 该方案通过运动关系解耦，将齿轮组间2种强相关耦合关系简化为1种. 基于耦合逻辑关系简化和结构优化，实现了关节全密封与无限转动的设计理念. 通过机械臂运动学解析解公式推导与全齿轮传动耦合逻辑分析结果的结合，完成适用于全齿轮耦合传动机械臂的控制算法设计. 基于耦合控制算法进行机械臂的运动空间分析与控制程序编写，实现机械臂的灵活性验证与自动控制功能，并在机械臂测试系统上进行试验验证. 仿真和试验结果表明，该机械臂的耦合原理、设计结构和控制算法可行，满足复杂放射性环境下机械臂自动化应用的需求.

关键词： 复杂耦合关系, 机械臂, 关节全密封, 齿轮传动, 放射性环境

Fig.1 Comparison of structure characteristics of two manipulators

Fig.2 Comparison of transmission principle of manipulators

Fig.3 External integrated power assembly of manipulator for hot cell

Fig.4 Motion transmission structure of manipulator for hot cell

Fig.5 Linkage coordinate system of manipulator for hot cell

Tab.1 D-H parameter table of manipulator for hot cell

Fig.6 Motion coupling compensation principle of manipulator for hot cell

Fig.7 Contrastive reachable workspace sections of two manipulators

Fig.8 3D reachable workspace contrast of two manipulators

Fig.10 Client architecture and interface of manipulator for hot cell

Fig.9 Control architecture diagram of manipulator for hot cell

Fig.11 Virtual interface of manipulator for hot cell

Fig.12 Key indicators test of manipulator for hot cell

Fig.13 Test methods and results of position accuracy

Fig.14 Deviation of each test point from mean spatial position


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