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This paper proposes a new joint mechanism for a snake-like robot to travel in hazardous areas for rescue tasks. In a complex environment, it is necessary to preform an efficient three-dimensional motion. But, a serial snake-like robot could hardly do that because of the limitation of its 1-DOF joint structure. To meet the requirement of flexible locomotion, a parallel mechanism was proposed which...
In this paper, a CAN-bus based distributed control system for a blocking plate manipulation robot is developed to meet the requirements of operating environment in nuclear power plants. In terms of the architecture for the control system, hardware and software for this robot is designed and implemented. Safety design is particularly mentioned as a vital ensurance of the robot system. Absolute positioning...
Since the intricate and dangerous working environment of steam generator, it's risk for workers to complete fastening bolts of blocking plate. The paper introduces a fastening bolt method based on image recognition. The mechanical structure and control system were proposed gradually to be a carrier for the method. Then the image recognition adapted the Canny algorithm to realize the image binaryzation...
A visual servo control system based on CAN-bus is designed to fulfil the manipulation for blocking plate in nuclear power plant. In the past, workers have to stay in the steam generator for a long time to assemble the blocking plate, which will have a great of harmful influence on the health of workers. In order to reduce the residence time in high radioactive region, a kind of robot is demanded to...
A precision positioning servo system for micro machining tools is designed to fit the needs of practical application in domestic and abroad marker. The construction of the servo system ensures the microscale machine tool has a hard-material machining capability with characteristics of compact size, high precision, ample force output. The compact size and ample force output are achieved by using short-lead...
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