NDLI: Kinematics analysis of the 4-DOF underwater manipulator served for nuclear power plant

Content Provider	IEEE Xplore Digital Library
Author	Jianhua Zhang Jie Yuan Lingyu Sun Yachao Dong Yaqiao Zhang
Copyright Year	2013
Description	Author affiliation: China Nucl. Power Technol. Res. Inst., Shenzhen, China (Jie Yuan; Yachao Dong) \|\| Sch. of Mech. Eng., Hebei Univ. of Technol., Tianjin, China (Jianhua Zhang; Lingyu Sun; Yaqiao Zhang)
Abstract	There is an urgent need to check and salvage foreign objects for the nuclear power plant. A 4-DOF underwater manipulator served for nuclear power plant can complete the examination, salvage or other actions for the nuclear power station reactor core and foreign objects in the pool. In this paper, several researches on 4-DOF underwater manipulator served for nuclear power plant are carried out as follows: building its kinematics model with screw theory method, kinematically simulating the manipulator with Matlab and Robotics Toolbox, analyzing its working space, dexterity and singular configuration, and analyzing the displacement and velocity curves of each joint. With these methods, this paper verifies the rationality of the composition parameters and also provides theoretical basis for the design of manipulator control system and the research for kinematics and trajectory planning.
Sponsorship	IEEE Robot. Autom. Soc.
Starting Page	2605
Ending Page	2608
File Size	534670
Page Count	4
File Format	PDF
ISBN	9781479927449
DOI	10.1109/ROBIO.2013.6739865
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Joints Kinematics Power generation Jacobian matrices Mathematical model
Content Type	Text
Resource Type	Article

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