Design of Underwater Welding Robot Used in Nuclear Plant

Abstract

Through the analysis of operational requirements and environmental characteristics of nuclear power plant pool, we propose the design of underwater welding robot and establish the 3D model. Then, we introduce special functions and system composition of the robot in detail. After that, we propose the cooperation of the moving system and operating system, for the reason that the center position of gravity and buoyancy change when the operating system moves. Finally, we simply introduce control system components, control strategy and simulation results of the robot.