Ivan F. Guschin
Ulyanovsk State University, Scientific Research Technological Institute named after S.P. Kapitsa, Lead Programmer, 1-4, Universitetskaya naberezhnaya, Ulyanovsk, 432000, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-6907-7386
Anton N. Leschinskiy
Ulyanovsk State University, Scientific Research Technological Institute named after S.P. Kapitsa, Lead Programmer, 1-4, Universitetskaya naberezhnaya, Ulyanovsk, 432000, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-6216-8269
Andrey V. Zhukov
PhD in Physics and Mathematics, Ulyanovsk State University, Scientific Research Technological Institute named after S.P. Kapitsa, Head of Scientific Research Department, 1-4, Universitetskaya naberezhnaya, Ulyanovsk, 432000, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-5930-5365
Alexander I. Zarukin
PhD in Technical Sciences, Ulyanovsk State University, Scientific Research Technological Institute named after S.P. Kapitsa, Engineer, 1-4, Universitetskaya naberezhnaya, Ulyanovsk, 432000, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.
Vyacheslav E. Kiryukhin
Ulyanovsk State University, Scientific Research Technological Institute named after S.P. Kapitsa, Engineer, 1-4, Universitetskaya naberezhnaya, Ulyanovsk, 432000, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.
Vladimir V. Levschanov
PhD in Technical Sciences, Ulyanovsk State University, Scientific Research Technological Institute named after S.P. Kapitsa, Engineer, 1-4, Universitetskaya naberezhnaya, Ulyanovsk, 432000, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.
Victor V. Prikhod'ko
PhD in Physics and Mathematics, Ulyanovsk State University, Scientific Research Technological Institute named after S.P. Kapitsa, Senior Research Scientist, 1-4, Universitetskaya naberezhnaya, Ulyanovsk, 432000, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: ORCID: 0000-0003-4124-5576
Vyacheslav V. Svetukhin
Doctor of Physical and Mathematical Sciences, Ulyanovsk State University, Scientific Research Technological Institute named after S.P. Kapitsa, Scientific-Manufacturing Complex «Technological Centre», Director, 7237, 1-7, Shokina ploshchad', Zelenograd, 124498, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0003-0831-9254
Alexei A. Sobolev
Ulyanovsk State University, Scientific Research Technological Institute named after S.P. Kapitsa, Engineer, 1-4, Universitetskaya naberezhnaya, Ulyanovsk, 432000, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.
Alexander N. Fomin
PhD in Technical Sciences, Ulyanovsk State University, Scientific Research Technological Institute named after S.P. Kapitsa, Director, 1-4, Universitetskaya naberezhnaya, Ulyanovsk, 432000, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.
Evgeniy M. Chavkin
Ulyanovsk State University, Scientific Research Technological Institute named after S.P. Kapitsa, Research Scientist, 1-4, Universitetskaya naberezhnaya, Ulyanovsk, 432000, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-8430-202X
Received 20 October 2020
Abstract
The results of the development of a radiation-tolerant robotic complex URS-2 for operation in hot cells at nuclear enterprises are presented. The robotic complex consists of several original components: robotic arm, control device with force feedback, control panel with hardware buttons and touch screen, control computer with system and application software, control-and-power cabinet. The robotic manipulator has 6 degrees of freedom, replaceable pneumatic grippers and is characterized by high radiation tolerance, similar to that of mechanical master-slave manipulators. The original design of the control device based on the delta-robot model that implements a copying mode of manual control of the robotic complex with force feedback is presented. The hardware and software solutions developed has made it possible to create a virtual simulator of the RTC for testing innovative methods of remote control of the robot, as well as teaching operators to perform technological tasks in hot cells. The experimental model of the robotic complex has demonstrated the ability to perform basic technological tasks in a demo hot cell, both in manual and automatic modes.
Key words
Radiation-tolerant robotic complex, robotic complex, manipulator, control device, force feedback, joystick, radiation-protected chamber, hot cell, training apparatus, simulator, virtual reality, VR, control software, ROS.
DOI
https://doi.org/10.31776/RTCJ.9209
Bibliographic description
Guschin, I. et al., 2021. Radiation-tolerant robotic complex URS-2. Robotics and Technical Cybernetics, 9(2), pp.142-150.
UDC identifier:
621.039:621.865.8
References
