Design and trajectory planning of blocking plate robot in steam generator

During nuclear power maintenance, the primary main pipe blocking plate needs to be put into the manhole of steam generator water chamber to complete the blocking plate operation. In view of the limitation of the space condition of the working site in the steam generator, this paper designs a six degree of freedom robot with a hybrid of moving and rotating joints. In order to meet the needs of blocking operation, the joint types and driving system of the robot are designed and calculated. According to the robot configuration, the kinematics model of the robot is established and the forward and inverse kinematics are solved. Matlab is used to simulate the trajectory planning of the manipulator in order to determine the motion state of each axis and provide theoretical support for practical application.