科技创新与应用2025，Vol.15Issue(2)：26-29,4.DOI:10.19981/j.CN23-1581/G3.2025.02.005
废液储罐清理作业机器人系统设计
陈建文 1朱靖 2朱性利 1张学贺2
作者信息
- 1. 中核武汉核电运行技术股份有限公司,武汉 430074||中核核工业特种机器人工程技术研究中心,武汉 430074
- 2. 哈尔滨工业大学,哈尔滨 150001
- 折叠
摘要
Abstract
In this paper,a robot system for cleaning retired waste liquid storage tanks is developed.The structural design,kinematic model,and trajectory planning method of the robot are introduced.It can flexibly move and overcome obstacles to achieve efficient cleaning of retired waste liquid storage tanks.Experimental results show that the system has excellent planning effect on both flat and curved walls,thereby providing a key technology for cleaning waste storage tanks.关键词
退役处理/清洗机器人/运动学模型/轨迹规划/废液储罐Key words
decommissioning/cleaning robot/kinematic model/trajectory planning/waste liquid storage tank分类
信息技术与安全科学引用本文复制引用
陈建文,朱靖,朱性利,张学贺..废液储罐清理作业机器人系统设计[J].科技创新与应用,2025,15(2):26-29,4.
