Structural Design of Maintenance Manipulator for Steam Generator in Nuclear Power Plant

According to the requirements of the auxiliary maintenance in the steam generator water chamber, a set of six degree of freedom manipulator for the maintenance of the steam generator in a nuclear power plant was designed, and its kinematics, workspace, and dynamics were solved. Firstly, the D-H parameter coordinate system of the manipulator was established. The kinematics analysis was carried out, the forward and inverse solutions of the manipulator were finished, and the inverse solutions were optimized. Then, according to the solved result, the workspace of the manipulator was obtained by the Monte Carlo method. Dynamic analysis was carried out with the help of ADAMS software. Finally, the prototype of the manipulator was built and its performance was tested. The correctness of the forward and inverse solutions is verified by the manipulator motion simulation. There is no obvious hole in the result of workspace analysis. Under the working condition of maximum load, the torque output curve of each joint shows that the moving process of each joint is stable. The results of motion analysis show that the working manipulator can meet the requirements of all-around maintenance of the steam generator.