Collision detection of a series robot in narrow space
Yan, Xiangyi (2025)
Kandidaatintyö
2025
School of Energy Systems, Konetekniikka
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe2025050738185
https://urn.fi/URN:NBN:fi-fe2025050738185
Tiivistelmä
This thesis introduces the design and analysis of a series robot arm suitable for closed environment such as EU DEMO (European Demonstration Fusion Power Plant) equatorial EC (Electron Cyclotron ) launcher. The study covers Computer-Aided Design modeling, motion and workspace analysis, finite element analysis, and collision detection. The robot is customized to fit a space of 3.6 × 3.6 × 3.26 meters, maintaining a gap of at least 1 centimeter during operation.
The force modeling and simulation of the structure were carried out by using 3D modeling software and finite element analysis software. The results confirm that the robot operates safely under stress and deformation constraints. The collision detection strategy improves the reliability of fusion reactor maintenance in narrow space.
The force modeling and simulation of the structure were carried out by using 3D modeling software and finite element analysis software. The results confirm that the robot operates safely under stress and deformation constraints. The collision detection strategy improves the reliability of fusion reactor maintenance in narrow space.