Kinematic analysis and lifetime assessment of inspection robot for CANDU steam generator, Wire driven mechanism

Potaknuti prirodom istražili smo mogućnosti izrade robota čiji manipulator ima sličan oblik i mehaniku poput kostura zmije i raspored mišića hobotnice. Manipulator se pokreće zahvaljujući čeličnom užadi, čije skraćenje uzrokuje pomak. Istražili smo dva tipa konstrukcije manipulatora. (1) Kontinualni tip konstrukcije gdje je okosnica manipulatora elastična. (2) Hiper-redundantni tip čija je okosnica kruta veza i koristi kardan za zglob. Kako bi odabrali najpovoljniji izbor manipulatora istražili smo direktnu i inverznu kinematiku svakog. Za kontinualni manipulator pretpostavljamo da je zakrivljenost jezgre konstantan po segmentu. Inverzna kinematika razvija se geometrijskom analizom i DH metodom. Putanja krajnjeg efektora je sferoidna površina. Za kinematičku analizu hiper-redundantnog manipulatora koordinatni okviri uspostavljeni su pomoću geometrijskih pravila, a ne tradicionalnim Denavit-Hartenbergovom (D-H) pravilima. Za rješavanje problema inverzne kinematičke analize koristimo produkt eksponencijalnog pristupa (engl. „PoE“). U oba slučaja manipulator ima dva stupnja slobode savijanja (engl. „dof“) i za oba tipa odredili smo prostor rada i usporedili ga s prostorom zadatka. Konačno, izrađen je model hiperredundantnog robota sa 16 stupnja slobode s 8 sekcija i 24 čelične užadi. Zadnji i najbitniji zadatak je teoretski odrediti vijek trajanja 6 x 19 (S) IWCS čelične užadi. Računan je vijek trajanja čelične užadi opterećene zamorom na savijanje.Encouraged by.nature, we explored the possibilities of.making a robot whose manipulator has a similar shape and mechanics like a snake.skeleton and the arrangement of octopus.muscles. The manipulator moves thanks to a steel rope, the shortening of steel rope causes a shift. We investigated two types of manipulator construction. (1) A.continuous type of construction.where the backbone of.the manipulator is.elastic. (2) Hyper-redundant type whose backbone is a rigid connection and uses a universal joint. In order to choose the most favorable.choice of manipulator, we investigated the direct and inverse.kinematics of each. For a continuous manipulator, we assume that the curvature of the core is constant across the segment. Inverse.kinematics is developed by geometric.analysis and DH method. The end effector path is a.spheroidal surface. For the kinematic analysis of a hyper-redundant.manipulator, coordinate frames are established using geometric rules rather than.traditional Denavit-Hartenberg (D-H) rules. To solve the problem of.inverse kinematic analysis, we use the product of the.exponential approach ("PoE"). In both cases, the.manipulator has two degrees of freedom by.one joint („dof“) and for both types we determined.the work space and compared it with the.task space. Finally, a model of a hyper-redundant robot.with 16 degrees of freedom with 8.sections and 24 steel ropes was made. The last and most important.task is to theoretically determine the.service life of 6 x 19 (S) IWCS steel ropes. Calculating the service.life of steel ropes with.bending fatigue load