一種基于三自由度機器人CFETR維護執(zhí)行器研究

一種基于三自由度機器人CFETR維護執(zhí)行器研究一種基于三自由度機器人CFETR維護執(zhí)行器研究

摘要

托卡馬克裝置是目前最重要的聚變設備之一，而大型聚變實驗裝置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長時間的運行，設備的執(zhí)行器會受到不同程度損傷，嚴重損傷的執(zhí)行器需要進行更換或維護。然而，在高溫、強輻照和高真空等復雜環(huán)境下，如何對執(zhí)行器進行維護成為了一大難題，而采用三自由度機器人進行執(zhí)行器的維護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器人的CFETR維護執(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)行器維護需求，提出了三自由度機器人的方案，并給出了整體結(jié)構(gòu)設計與運動學建模方案。在此基礎上，本文設計了機器人控制算法，實現(xiàn)了機器人的路徑規(guī)劃與控制。實驗結(jié)果證實，該機器人成功地實現(xiàn)了對CFETR執(zhí)行器的維護。

在CFETR執(zhí)行器維護方面，本文的研究結(jié)果具有很好的可行性和實用性，提供了一種行之有效的CFETR執(zhí)行器維護方法，并為CFETR的長壽命運行提供了技術(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