Obstacle performance analysis of air duct cleaning robot for nuclear power plants based on RecurDyn
DAI Xuliang
WANG Xiangjiang
ZHAI Lianfu
Abstract：[Objective]Aimed at the current cleaning demand for air ducts in the ventilation system of nuclear power plants,a new small-volume air duct cleaning robot equipped with an auxiliary obstacle-surmounting mechanism and featuring strong obstacle-surmounting performance was designed.[Methods]By analyzing the internal operating conditions of air ducts,on the basis of satisfying the geometric constraints during movement,no slip instability and no tipping,a mathematical model for the process of the air duct robot surmounting boss obstacles was established,and the theoretical value of the height of the boss obstacle it could surmount was obtained through analysis.RecurDyn software was used to simulate the obstacle-surmounting process of the air duct robot with and without relying on the auxiliary obstacle-surmounting mechanism,and a prototype test was carried out.[Results]The results show that the simulated and measured values are consistent with the theoretical value,by which the boss obstacle-surmounting performance of the robot and the rationality of the scheme design are verified.Reference is provided for the design of improving the obstacle-surmounting capability of the same type of air duct cleaning robots.
Keywords：Air duct cleaning robot of nuclear power plantObstacle performanceConstraint conditionRecurDyn softwarePrototype test
Publication Date：2025-12-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：13( 131-143 )