Search

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.

This paper presents a lower limb rehabilitation robot based on free gait and virtual reality, which is intended to improve therapeutic efficacy. With the help of the robot, patients with motor disabilities can walk with free gait in a virtual environment and choose between passive and active training modes. So the impaired limbs can get appropriate exercise in all clinical stages and the motivation to participate in rehabilitation training is increased. Inspired by this idea, a new free gait generation algorithm is proposed and the working mechanism of the passive/active training mode is explained in detail. And the results of preliminary experiments are presented to demonstrate the effectiveness of the proposed algorithm and the performance of the rehabilitation system.

In this paper, an underwater robot for inspecting and maintaining nuclear reactor vessel is developed. Based on the kinematics analysis of the robot, the workspace is obtained. In order to evaluate the influence of water environment to the robot, the hydrodynamic forces including water resistance and additional mass force are analyzed. Then some experiments including watertight test are performed to evaluate the performance of the robot and simulations are carried out to verify the theoretical analysis. The experimental and simulation results show that the developed underwater robot which can work at 22m in water meets the design objective basically and the analyses on kinematics and hydrodynamic forces are reasonable.

In this paper, an upper limb rehabilitation robot based on virtual reality is developed to improve therapeutic efficacy. With the help of the robot, the patients can reach virtual items appearing randomly with impaired limbs in a virtual environment. The kinematics of the robot is analyzed and the appearance rules are made to avoid mechanical interference between the arms. Both passive mode and active mode are introduced into the rehabilitation system to ensure this system can be used in all clinical stages. The simulation results show that the upper limb rehabilitation robot can generate appropriate trajectories to improve therapeutic efficacy according to the motion planning methods based on kinematics analysis.

In this paper, a discrete model of stepping is built based on the discretization of reachable areas. Based on the discrete model of stepping and the state transition rules, the stable state space is constructed and the issue of gait planning is transformed into the reordering problem of states in the stable state space. Then a new free gait generation algorithm is proposed. Through simulation results, we may come to the conclusion that the robot with the free gait generation algorithm can generate stable fusion gait to make the hexapod robot controlled like the wheeled robot, just by providing the desired advance direction and speed.