Workspace Description and Evaluation of Master-Slave Dual Hydraulic Manipulators
Yao Sun,
Yi Wan,
Haifeng Ma,
Xichang Liang
Affiliations
Yao Sun
Key Laboratory of High Efficiency and Clean Mechanical Manufacture of Ministry of Education, National Demonstration Center for Experimental Mechanical Engineering Education, School of Mechanical Engineering, Shandong University, Jinan 250061, China
Yi Wan
Key Laboratory of High Efficiency and Clean Mechanical Manufacture of Ministry of Education, National Demonstration Center for Experimental Mechanical Engineering Education, School of Mechanical Engineering, Shandong University, Jinan 250061, China
Haifeng Ma
Key Laboratory of High Efficiency and Clean Mechanical Manufacture of Ministry of Education, National Demonstration Center for Experimental Mechanical Engineering Education, School of Mechanical Engineering, Shandong University, Jinan 250061, China
Xichang Liang
Key Laboratory of High Efficiency and Clean Mechanical Manufacture of Ministry of Education, National Demonstration Center for Experimental Mechanical Engineering Education, School of Mechanical Engineering, Shandong University, Jinan 250061, China
Nuclear power plant emergency robots are robots used to respond to significant public safety incidents, such as uncontrolled radioactive sources and nuclear catastrophe leaks. However, there are no standardized evaluation criteria for the optimal design of the robots. We offer a quantitative analytic algorithm for optimizing nuclear power plant emergency robots to address this issue. The method optimizes the structural parameters of the robot in accordance with the workspace by analyzing, comparing, and evaluating the workspace. The approach comprises constructing a kinematic model of the mechanical arm and proposing an optimization algorithm based on the alpha shape to accurately describe the manipulator workspace; employing the proposed convex hull algorithm to quantitatively analyze and evaluate the workspace generated by different solutions in terms of area, volume, task demand, Structural Length Index and Global Conditioning Index; and determining the robotic arm joint parameters by selecting the optimum workspace design solution. Using the suggested algorithm, we optimize the design of the master and slave robotic arms of the nuclear power plant emergency robots. Theoretical calculations and simulation results demonstrate that the method is an effective and practical evaluation technique that not only accurately describes the workspace but also optimizes the design of the nuclear power plant emergency robots.
