Kinematics Analysis and Positioning Solution of Three Degrees of Freedom Manipulator for Eddy Current Inspection of SG Heat Transfer Tube

Xiao Xiang; Gao Sanjie; Jiang Weiyu; Liu Li; Li Shuliang

doi:10.13832/j.jnpe.2023.05.0151

Volume 44 Issue 5

Oct. 2023

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Xiao Xiang, Gao Sanjie, Jiang Weiyu, Liu Li, Li Shuliang. Kinematics Analysis and Positioning Solution of Three Degrees of Freedom Manipulator for Eddy Current Inspection of SG Heat Transfer Tube[J]. Nuclear Power Engineering, 2023, 44(5): 151-155. doi: 10.13832/j.jnpe.2023.05.0151

Citation:

Xiao Xiang, Gao Sanjie, Jiang Weiyu, Liu Li, Li Shuliang. Kinematics Analysis and Positioning Solution of Three Degrees of Freedom Manipulator for Eddy Current Inspection of SG Heat Transfer Tube[J]. Nuclear Power Engineering, 2023, 44(5): 151-155. doi: 10.13832/j.jnpe.2023.05.0151

Citation:

Xiao Xiang, Gao Sanjie, Jiang Weiyu, Liu Li, Li Shuliang. Kinematics Analysis and Positioning Solution of Three Degrees of Freedom Manipulator for Eddy Current Inspection of SG Heat Transfer Tube[J]. Nuclear Power Engineering, 2023, 44(5): 151-155. doi: 10.13832/j.jnpe.2023.05.0151

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Kinematics Analysis and Positioning Solution of Three Degrees of Freedom Manipulator for Eddy Current Inspection of SG Heat Transfer Tube

doi: 10.13832/j.jnpe.2023.05.0151

1.
Chongqing SWS Hemodialysis Care Co., Ltd., Chongqing, 401123, China
2.
Chongqing Technology and Business University, Chongqing, 400067, China
3.
Nuclear Power Institute of China, Chengdu, 610213, China

Received Date: 2022-11-14
Rev Recd Date: 2023-07-25
Publish Date: 2023-10-13

Abstract

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.
- Forward and inverse kinematics solution,
- Eddy current testing,
- Manipulator

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References(7)

References

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