Detailed Control System Design of Nuclear Multifunction Robot Service for Salvage Operation

摘要

Because of the robot’s special application background, such as underwater, nuclear environments, space, and disaster sites, after Fukushima nuclear spill the robot for nuclear power station has become a hot spot in the field of robotics research. A remote operation nuclear multifunction robot was designed by service for salvage operation in the nuclear reactor pool to replace operators’ dangerous and complicated work. In order to meet the overall performance requirements of the robot, during the design phase of the complete machine, the designer selected hardware suitable for the robot’s indicators and designed software that can apply the selected hardware. The grabbing foreign materials experiment was tested in order to verification the control system development satisfies the design indexes. The result shows that the robot can grabbing foreign materials rapidly and exactly.