TY - GEN
T1 - Design and tolerance analysis of compliant exchanger for rescuing manipulator in nuclear power plant
AU - Ma, Changyou
AU - Xing, Hongjun
AU - Gao, Haibo
AU - Ding, Liang
AU - Deng, Zongquan
AU - Tao, Jianguo
AU - Zhang, Meiling
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/21
Y1 - 2016/10/21
N2 - The rescue mission of nuclear plant is both complex and dangerous, there is an urgent need to enhance the dexterity of rescuing manipulator to realize the automatic tool replacement for executing different tasks. A compliant exchanger for rescuing manipulator in nuclear plant is manufactured. The exchanger adopts a new double universal joint docking method, which can realize the compliant docking and locking of actuator and tool, reduce requirement of control accuracy and contact force in the docking process. The paper does tolerance analysis to the double universal joint docking mechanism and builds a theoretical model for tolerance analysis. The tolerance performance is analyzed and verified through vertical simulation platform. Finally, the docking and locking experiment is done by using six degrees of freedom manipulator, the results prove the validity of the theoretical analysis and simulation analysis.
AB - The rescue mission of nuclear plant is both complex and dangerous, there is an urgent need to enhance the dexterity of rescuing manipulator to realize the automatic tool replacement for executing different tasks. A compliant exchanger for rescuing manipulator in nuclear plant is manufactured. The exchanger adopts a new double universal joint docking method, which can realize the compliant docking and locking of actuator and tool, reduce requirement of control accuracy and contact force in the docking process. The paper does tolerance analysis to the double universal joint docking mechanism and builds a theoretical model for tolerance analysis. The tolerance performance is analyzed and verified through vertical simulation platform. Finally, the docking and locking experiment is done by using six degrees of freedom manipulator, the results prove the validity of the theoretical analysis and simulation analysis.
KW - double universal joint docking
KW - end effector exchange
KW - nuclear power plant robotics
KW - tolerance analysis
UR - https://www.scopus.com/pages/publications/84998885594
U2 - 10.1109/ICARM.2016.7606940
DO - 10.1109/ICARM.2016.7606940
M3 - 会议稿件
AN - SCOPUS:84998885594
T3 - ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics
SP - 324
EP - 329
BT - ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016
Y2 - 18 August 2016 through 20 August 2016
ER -