廢液儲罐清理作業(yè)機器人系統(tǒng)設計

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摘  要：該文研制一種退役廢液儲罐清洗作業(yè)機器人系統(tǒng)。介紹該機器人的結構設計、運動學模型、軌跡規(guī)劃方法，可靈活移動、越障，實現(xiàn)對退役廢液儲罐的高效清理。實驗結果表明，該系統(tǒng)在平面和曲面壁上均具有卓越的規(guī)劃效果，為廢液儲罐清理提供一項關鍵技術。

關鍵詞：退役處理;清洗機器人;運動學模型;軌跡規(guī)劃;廢液儲罐

中圖分類號：TP242      文獻標志碼：A          文章編號：2095-2945（2025）02-0026-04

Abstract： In this paper， a robot system for cleaning retired waste liquid storage tanks is developed. The structural design， kinematic model， and trajectory planning method of the robot are introduced. It can flexibly move and overcome obstacles to achieve efficient cleaning of retired waste liquid storage tanks. Experimental results show that the system has excellent planning effect on both flat and curved walls， thereby providing a key technology for cleaning waste storage tanks.

Keywords： decommissioning; cleaning robot; kinematic model; trajectory planning; waste liquid storage tank

核能被認為是人類清潔、高效的能源之一，其可再生性引起了世界各國的極大關注。（剩余4720字）