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一種基于三自由度機(jī)器人CFETR維護(hù)執(zhí)行器研究一種基于三自由度機(jī)器人CFETR維護(hù)執(zhí)行器研究
摘要
托卡馬克裝置是目前最重要的聚變設(shè)備之一,而大型聚變實(shí)驗(yàn)裝置CFETR便是一種世界上最具競爭力的第二代托卡馬克裝置,它的運(yùn)行狀態(tài)與壽命對于聚變技術(shù)的發(fā)展有著十分重要的影響。由于CFETR長時(shí)間的運(yùn)行,設(shè)備的執(zhí)行器會(huì)受到不同程度損傷,嚴(yán)重?fù)p傷的執(zhí)行器需要進(jìn)行更換或維護(hù)。然而,在高溫、強(qiáng)輻照和高真空等復(fù)雜環(huán)境下,如何對執(zhí)行器進(jìn)行維護(hù)成為了一大難題,而采用三自由度機(jī)器人進(jìn)行執(zhí)行器的維護(hù)則成為了較為有效的解決方案。因此,本文研究了基于三自由度機(jī)器人的CFETR維護(hù)執(zhí)行器問題。
首先,本文闡述了CFETR的基本工作原理與執(zhí)行器的功能以及成分。之后,針對CFETR執(zhí)行器維護(hù)需求,提出了三自由度機(jī)器人的方案,并給出了整體結(jié)構(gòu)設(shè)計(jì)與運(yùn)動(dòng)學(xué)建模方案。在此基礎(chǔ)上,本文設(shè)計(jì)了機(jī)器人控制算法,實(shí)現(xiàn)了機(jī)器人的路徑規(guī)劃與控制。實(shí)驗(yàn)結(jié)果證實(shí),該機(jī)器人成功地實(shí)現(xiàn)了對CFETR執(zhí)行器的維護(hù)。
在CFETR執(zhí)行器維護(hù)方面,本文的研究結(jié)果具有很好的可行性和實(shí)用性,提供了一種行之有效的CFETR執(zhí)行器維護(hù)方法,并為CFETR的長壽命運(yùn)行提供了技術(shù)支持。
關(guān)鍵詞:聚變裝置,CFETR,執(zhí)行器,三自由度機(jī)器人,路徑規(guī)劃,控制算法
Abstract
Thetokamakdeviceiscurrentlyoneofthemostimportantfusionequipment,andthelarge-scalefusionexperimentaldeviceCFETRisoneoftheworld'smostcompetitivesecond-generationtokamakdevices.Itsoperationalstatusandlifehavesignificantimpactsonthedevelopmentoffusiontechnology.Duetothelong-termoperationofCFETR,theactuatorsoftheequipmentwillbedamagedtovaryingdegrees,andseverelydamagedactuatorsneedtobereplacedormaintained.However,howtomaintaintheactuatorsinacomplexenvironmentofhightemperature,strongirradiation,andhighvacuumhasbecomeamajorchallenge.Theuseofathree-degree-of-freedomrobotforactuatormaintenancehasbecomeamoreeffectivesolution.Therefore,thispaperstudiestheproblemofCFETRmaintenanceactuatorbasedonathree-degree-of-freedomrobot.
First,thispaperexpoundsthebasicworkingprincipleofCFETR,thefunction,andcompositionoftheactuator.Next,aimingatthemaintenancerequirementsofCFETRactuator,theschemeofathree-degree-of-freedomrobotisproposed,andtheoverallstructuredesignandkinematicsmodelingschemearegiven.Basedonthis,therobotcontrolalgorithmisdesignedtoachievethepathplanningandcontroloftherobot.ExperimentalresultsprovethattherobotsuccessfullymaintainstheCFETRactuator.
IntermsofCFETRactuatormaintenance,theresearchresultsofthispaperhavegoodfeasibilityandpracticality,providinganeffectiveCFETRactuatormaintenancemethodandtechnicalsupportforthelong-lifeoperationofCFETR.
Keywords:fusionequipment,CFETR,actuator,three-degree-of-freedomrobot,pathplanning,controlalgorithmThemaintenanceofCFETRactuatorsiscrucialforthelong-termoperationoftheCFETR.TraditionalmaintenancemethodsforCFETRactuatorsaretime-consumingandlabor-intensive,andmaynoteffectivelysolvetheproblems.Therefore,thedevelopmentofanefficientmaintenancemethodisurgentlyneeded.
Inthispaper,athree-degree-of-freedomrobotwasdevelopedforCFETRactuatormaintenance.TherobotisdesignedtoachievepathplanningandcontrolfortheCFETRactuator.Thepathplanningalgorithmsusedintherobotenableittoreachandmaintainthedesiredpositionstoperformthemaintenancetasks.Thecontrolalgorithmensuressmoothmovementoftherobotandaccuratepositioningoftheactuator.
ExperimentalresultshaveshownthattherobotsuccessfullymaintainstheCFETRactuator.Thefeasibilityandpracticalityoftheproposedmethodhavebeendemonstrated,anditprovidesaneffectivesolutionforthelong-lifeoperationofCFETR.
Inconclusion,thedevelopmentofanefficientmaintenancemethodforCFETRactuatorsisessentialforthereliableoperationoftheCFETR.TheproposedmethodinthispapercanbeusedasaguidelineforfutureCFETRmaintenancesystemsdesign.Furtherinvestigationscanbedonetoimprovetheperformanceoftherobot,reduceoperationcost,andextendtherangeofapplicationstootherfusionequipmentOnepotentialareaforfutureresearchrelatedtoCFETRmaintenanceisthedesignofmoreadvancedrobotsthatcanperformevenmorecomplextasks.Forexample,currentrobotsaretypicallyonlyabletoperformsimpletasksliketighteningboltsorinspectingcomponents.However,moreadvancedrobotscouldbedesignedthatarecapableofperformingcomplextaskslikewelding,cutting,orevenrepairingdamagedcomponents.
AnotherareaofpotentialresearchisthedevelopmentofmoresophisticatedmonitoringandcontrolsystemsforCFETRmaintenancerobots.Currently,robotsmustbemanuallyoperatedbyhumanoperators,whomustmonitortheirprogressandinterveneifanyproblemsarise.However,moreadvancedmonitoringandcontrolsystemscouldbedevelopedthatwouldallowrobotstooperateautonomously,makingmaintenanceoperationsmoreefficientandcost-effective.
Finally,futureresearchcouldfocusonthedevelopmentofnewmaterialsandcoatingsforCFETRcomponentsthatwouldbemoredurableandresistanttowearandtear.ThiscouldsignificantlyextendthelifespanofCFETRcomponents,reducingtheneedforfrequentmaintenanceandultimatelyloweringtheoverallcostofoperatingthefacility.
Overall,therearemanypotentialavenuesforfutureresearchrelatedtothemaintenanceoftheCFETR.Bycontinuingtodevelopnewandinnovativemaintenancemethodsandtechnologies,scientistsandengineerscanensurethatthisimportantfusionfacilityiscapableofoperatingreliablyandefficientlyforyearstocomeAnotherimportantareaofresearchrelatedtothemaintenanceoftheCFETRisthedevelopmentofadvancedmonitoringanddiagnosticsystems.Thesesystemswouldaimtodetectpotentialissueswiththefacility'scomponentsbeforetheyleadtofailuresordowntime.Bymonitoringkeyparameterssuchastemperature,pressure,andflowratesinreal-time,engineerscouldidentifyproblemsearlyonandtakecorrectiveactionbeforetheybecomemoreserious.
Inadditiontomonitoringsystems,thedevelopmentofadvancedroboticsandautomationtechnologiescouldalsoplayasignificantroleinreducingtheneedforhumaninterventioninmaintenanceactivities.Forexample,robotscouldbeusedtoperformroutineinspectionsandrepairsinhard-to-reachareasorinhazardousenvironments,suchastheinteriorofthefusionchamber.
Finally,itisimportanttoconsiderthehumanfactorsinvolvedinCFETRmaintenance.Asthecomplexityofthefacilityincreases,sotoodoestheneedforhighlyskilledandexperiencedmaintenancepersonnel.Ensuringthatthesepersonnelareproperlytrained,equippedwiththenecessarytoolsandequipment,andprovidedwithasafeandcomfortableworkingenvironmentwillbecriticaltothelong-termsuccessoftheCFETR.
Overall,themaintenanceoftheCFETRwillcontinuetobeacriticalareaofresearchanddevelopmentasthefacilitymovesclosertocompletion.Byfocusingonthedevelopmentofadvancedmaintenancemethods,monitoringanddiagnosticsystems,roboticsandautomationtechnologies,andaddressingthehumanfactorsinvolvedinmaintenance,scientistsandengineerscanhelpensurethattheCFETRoperatesreliablyandefficientlyforyea
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