A Dual-arm Handling Robot for Nuclear Emergency Tasks

Abstract

Nuclear emergency response requires a function robot with strong mobile ability, large load capacity, high reliability and flexible operation. For these requirements, this paper describes a dual-arm handling robot: the mobile base is designed as a track structure to adapt to complex emergency terrain; the drive part consists of the hydraulic and electricity units to support the base and two arms; the main controller and the irradiation tolerant electrohydraulic controller are combined to ensure the reliable control operation; the main and secondary work units are associated with two arms to meet the dexterous operations in complex workspaces. Lastly, a complete robot system is assembled, and the physical test shows that it can adapt to the nuclear radiation environment and meet the emergency operation needs.