蒸汽发生器隔板渗透检查用机器人的精度设计

Robot Accuracy Design for Penetrant Testing of Steam Generator Partition

摘要: 以机器人位姿误差的概率分析为基础, 提出用概率精度指标对机器人进行精度设计的方法。对蒸汽发生器隔板PT检查机器人的精度进行了设计, 得出了各精度环节的设计指标。

Abstract: Based on the probability analysis of the robot pose error, the probability accuracy indicators was proposed to design the robot accuracy. The robot accuracy was designed for the penetrant testing of steam generator partition, and the designed target precision were got of each step.