Position error compensation of the multi-purpose overload robot in nuclear power plants

doi:10.1016/j.net.2021.02.005

HFCAS OpenIR

	Position error compensation of the multi-purpose overload robot in nuclear power plants
	Qin, Guodong 1; Ji, Aihong 1; Cheng, Yong2 ; Zhao, Wenlong2 ; Pan, Hongtao2 ; Shi, Shanshuang2 ; Song, Yuntao 2
	2021-08-01
发表期刊	NUCLEAR ENGINEERING AND TECHNOLOGY
ISSN	1738-5733
通讯作者	Ji, Aihong(meeahji@nuaa.edu.cn) ; Shi, Shanshuang(shiss@ipp.ac.cn)
摘要	The Multi-Purpose Overload Robot (CMOR) is a key subsystem of China Fusion Engineering Test Reactor (CFETR) remote handling system. Due to the long cantilever and large loads of the CMOR, it has a large rigid-flexible coupling deformation that results in a poor position accuracy of the end-effector. In this study, based on the Levenberg-Marquardt algorithm, the spatial grid, and the linearized variable load principle, a variable parameter compensation model was designed to identify the parameters of the CMOR's kinematics models under different loads and at different poses so as to improve the trajectory tracking accuracy. Finally, through Adams-MATLAB/Simulink, the trajectory tracking accuracy of the CMOR's rigid-flexible coupling model was analyzed, and the end position error exceeded 0.1 m. After the variable parameter compensation model, the average position error of the end-effector became less than 0.02 m, which provides a reference for CMOR error compensation. (c) 2021 Korean Nuclear Society, Published by Elsevier Korea LLC. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
关键词	Multi-purpose overload robot Remote handling system Levenberg-marquardt Parameter identification
DOI	10.1016/j.net.2021.02.005
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[11802305] ; National Natural Science Foundation of China[51875281] ; National Natural Science Foundation of China[51861135306] ; China National Special Project for MagneticConfinement Fusion Science Program[2017YFE0300503] ; Fundamental Research Funds for the Central Universities
项目资助者	National Natural Science Foundation of China ; China National Special Project for MagneticConfinement Fusion Science Program ; Fundamental Research Funds for the Central Universities
WOS研究方向	Nuclear Science & Technology
WOS类目	Nuclear Science & Technology
WOS记录号	WOS:000671556100013
出版者	KOREAN NUCLEAR SOC
引用统计	被引频次：11[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.hfcas.ac.cn:8080/handle/334002/123551
专题	中国科学院合肥物质科学研究院
通讯作者	Ji, Aihong; Shi, Shanshuang
作者单位	1.Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, Nanjing 210016, Peoples R China 2.Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
通讯作者单位	中科院等离子体物理研究所
推荐引用方式 GB/T 7714	Qin, Guodong,Ji, Aihong,Cheng, Yong,et al. Position error compensation of the multi-purpose overload robot in nuclear power plants[J]. NUCLEAR ENGINEERING AND TECHNOLOGY,2021,53.
APA	Qin, Guodong.,Ji, Aihong.,Cheng, Yong.,Zhao, Wenlong.,Pan, Hongtao.,...&Song, Yuntao.(2021).Position error compensation of the multi-purpose overload robot in nuclear power plants.NUCLEAR ENGINEERING AND TECHNOLOGY,53.
MLA	Qin, Guodong,et al."Position error compensation of the multi-purpose overload robot in nuclear power plants".NUCLEAR ENGINEERING AND TECHNOLOGY 53(2021).