Systematic design of snake arm maintainer in nuclear industry

Guodong Qin,Yong Cheng,Hongtao Pan,Wenlong Zhao,Shanshuang Shi,Aihong Ji,Huapeng Wu

Fusion Engineering and Design（2022）

引用 3|浏览7

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摘要

•Design method of snake arm maintainer suitable for nuclear industry.•Worm folding mechanism realizes reverse folding of snake arm.•Designed the trajectory planning and trajectory tracking algorithm of a snake arm.•Mechatronics simulation model verifies the feasibility.

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关键词

Chinese fusion engineering test reactor,Snake arm maintainer,Layered drive,Multi-purpose overload robot

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