Kinematics Analysis and Mechanical Structure Design of Nuclear Multifunction Robot Service for Salvage Operation

In order to reduce the radiation dose of operators and the labor intensity of staff during the nuclear reactor operation, a remote operation nuclear multifunction robot was designed by service for salvage operation in the nuclear reactor pool. The purpose of this paper is making the robot to be a remote control tool to help staff in the nuclear reactor pool. Firstly, the kinematics analysis of the robot's six-wheeled mobile platform and four-degree-of-freedom manipulator are carried out. Then, based on the whole results of kinematics analysis, the overall mechanical structure of the robot is designed radiation-resistant and compact.