Hydrodynamic modeling and analysis of nuclear power plant fuel pool cleaning robot

Hongbin Duan; Bin Zhang; Dongdong Wu; Xi Wang

doi:10.1117/12.3010577

1 December 2023 Hydrodynamic modeling and analysis of nuclear power plant fuel pool cleaning robot

Hongbin Duan, Bin Zhang, Dongdong Wu, Xi Wang

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129402D (2023) https://doi.org/10.1117/12.3010577
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

Aiming at cleaning requirements of stainless-steel wall surface for nuclear plant station (NPS) fuel pool, an underwater cleaning robot with two motion modes of swimming and crawling was proposed. According to the structural symmetry characteristic, the mathematical hydrodynamic models for two motion modes were established respectively. The robot was simulated with a Fluent based mathematical model to test its movement of direct navigation, rotary motion in swimming mode and forward navigation in crawling mode. The coefficient corresponding to the mathematical hydrodynamic model was got from the simulation. The results show that the second order hydrodynamic coefficient is dominant. At the swimming mode, the resistance of downward motion is much larger than that of the upward motion. The lift force of sway direction is close to surge direction, while the resistance is much larger. Compared to the surge direction at swimming mode, the lift force is much larger at the crawling mode while the resistance is little changed. The research results provide important data basis for structural design and motion control of the cleaning robot.

Citation Download Citation

Hongbin Duan, Bin Zhang, Dongdong Wu, and Xi Wang "Hydrodynamic modeling and analysis of nuclear power plant fuel pool cleaning robot", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129402D (1 December 2023); https://doi.org/10.1117/12.3010577

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