关键词: 托卡马克, 正逆运动学, 蒙特卡洛, 轨迹规划, 虚拟仿真

Abstract: Aimed at the motion trajectory problem of remote handling in a tokamak, a three-dimensional scene simulation platform, based on MATLAB and V-REP (Virtual Robot Experimentation Platform), was built for the vacuum vessel maintenance robot. The D-H (Denavit-Hartenberg) parameter was established to analyze the kinematics of manipulator, and the reachable workspace of manipulator was obtained by Monte-Carlo method. The high-order polynomial interpolation method was applied to plan a smooth and continuous interpolation curve for the motion trajectory simulation of the CFETR (China Fusion Engineering Test Reactor) vacuum vessel remote handling, which obtains the simulation curve of the manipulator end. The angular velocity and torque of each joint change smoothly, and the maximum value does not exceed the design value of the robot, which proved the correctness of the algorithm and the feasibility of the trajectory planning to a certain extent. The simulation results showed that the manipulator can adapt to the complex environment inside the vacuum vessel, and can effectively plan the motion trajectory that meets the requirements of the established space task. It is positive significance for the application and trajectory planning of remote handling in a tokamak.

Key words: Tokamak, Forward and reverse kinematics, Monte Carlo, Trajectory planning, Virtual simulation