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| http://www.ncbi.nlm.nih.gov/pmc/articles/PMC5308188 | PMC |
| http://dx.doi.org/10.2105/AJPH.2016.303553 | DOI Listing |
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College of Resource Environmental and Safety Engineering, University of South China, Hengyang 421001, China.
To solve the issue of inconvenient and dangerous manual operation during the installation and removal of the main pipe plugging plate in the steam generator in nuclear power plants, a ten-degree-of-freedom plugging robot was designed in the present study that includes a collaborative robotic arm coupled with a servo electric cylinder. By establishing a joint coordinate system for the robot model, a D-H parameter model for the plate plugging robot was established, and the forward and inverse kinematics were solved. The volume level approximate convex decomposition algorithm was used to fit the steam generator model with a convex packet, and an experimental simulation platform was constructed.
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