TY - GEN
T1 - Robot System and Fastening Force Control for Sealing Blocking Plates of Steam Generator
AU - Han, Zhe
AU - Duan, Xingguang
AU - Wang, Yonggui
AU - Pan, Yue
AU - Wu, Yu
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - During the nuclear power plant maintenance period, the primary side manhole of the steam generator will be opened. In order to prevent water in the primary circuit of the reactor from flowing into the water chamber, it's necessary to block the steam generator primary side cold-hot end and primary circuit pipe connection. This maintenance operation has a high dose of radioactivity and is not suitable for human operation. The paper introduces a blocking plate manipulation robot for this environment. The mechanical structure was designed in detail, and a positioning method based on image recognition was proposed. The control strategy based on the position and current was proposed for the bolt fastening mechanism. Finally, based on the prototype, the absolute positioning accuracy experiment was conducted, and the results were processed and analyzed.
AB - During the nuclear power plant maintenance period, the primary side manhole of the steam generator will be opened. In order to prevent water in the primary circuit of the reactor from flowing into the water chamber, it's necessary to block the steam generator primary side cold-hot end and primary circuit pipe connection. This maintenance operation has a high dose of radioactivity and is not suitable for human operation. The paper introduces a blocking plate manipulation robot for this environment. The mechanical structure was designed in detail, and a positioning method based on image recognition was proposed. The control strategy based on the position and current was proposed for the bolt fastening mechanism. Finally, based on the prototype, the absolute positioning accuracy experiment was conducted, and the results were processed and analyzed.
UR - http://www.scopus.com/inward/record.url?scp=85084300243&partnerID=8YFLogxK
U2 - 10.1109/CYBER46603.2019.9066598
DO - 10.1109/CYBER46603.2019.9066598
M3 - Conference contribution
AN - SCOPUS:85084300243
T3 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
SP - 169
EP - 174
BT - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
Y2 - 29 July 2019 through 2 August 2019
ER -