Kinematics Analysis and Positioning Solution of Three Degrees of Freedom Manipulator for Eddy Current Inspection of SG Heat Transfer Tube
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摘要: 蒸汽发生器传热管的在役自动涡流检验装置对定位器的定位精度要求较高，定位偏差使得探头磨损加剧甚至卡在传热管中。为了解决定位的精确计算问题，本文基于三自由度的检测机械臂，建立了机械臂关节的运动学模型，对正、逆运动学进行了定位计算求解，同时为解决安装机械臂时基座的位置偏差提出了误差消除的方法。试验结果表明，该定位计算方法的结果准确、稳定可靠。Abstract: In-service automatic eddy current inspection device for heat transfer tube of steam generator requires high positioning accuracy. If positioning deviation exists, the probe will wear worse or even get stuck in the heat transfer tube. In order to solve the problem, based on the three degrees of freedom detection manipulator, the kinematics model of the manipulator joint is established, and the forward and inverse kinematics are solved in this paper. Besides, the method of error elimination is proposed for solving the position deviation of the base when installing the manipulator. The test results show that the positioning calculation method is accurate, stable and reliable.
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图 1 三自由度检测机械臂结构示意图
Figure 1. Structure of Three-degree of Freedom Detection Manipulator
图 2 建立坐标系
l1—大臂长度； l2—小臂长度；θ1—大臂旋转角度；θ2—小臂旋转角度
Figure 2. Establishment of Coordinate System
表 1 27组管子机械臂定位测试结果
Table 1. Test Results of Manipulator Positioning for 27 Groups of Tubes
管号
（ROW,COL）Rn/mm Cn /mm ER/mm EC/mm (46,29) 0 0 0 0 (46,30) 30.21 29 2.78 1.57 (46,31) 30.21 28 2.78 0.57 (46,32) 30.21 27 2.78 −0.43 (46,33) 29.21 28 1.78 0.57 (46,34) 30.21 27 2.78 −0.43 (46,35) 29.21 26 1.78 −1.43 (46,36) 28.21 26 0.78 −1.43 (46,37) 28.21 27 0.78 −0.43 (46,38) 29.21 29 1.78 1.57 (46,39) 28.21 27 0.78 −0.43 (46,40) 28.21 27 0.78 −0.43 (46,41) 28.21 27 0.78 −0.43 (46,42) 29.21 29 1.78 1.57 (46,43) 29.21 29 1.78 1.57 (46,44) 28.21 28 0.78 0.57 (46,45) 27.21 28 −0.22 0.57 (46,46) 27.21 26 −0.22 −1.43 (46,47) 25.21 30 −2.22 2.57 (46,48) 24.65 29 −2.78 1.57 (46,49) 25.21 30 −2.22 2.57 (46,50) 24.65 28 −2.78 0.57 (46,51) 25 28 −2.43 0.57 (46,52) 25 27 −2.43 −0.43 (46,53) 25 29 −2.43 1.57 (46,54) 24.91 27 −2.52 −0.43 (46,55) 24.91 30 −2.52 2.57 平均偏差 0.07 0.49 
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