Proračun pneumatskog prsta za zaključavanje manipulatora unutar cijevi parogeneratora

master's thesis

• Title (english): Stress analysis of pneumatically actuated grippers on manipulator applied throughout the PWR inspection
• Author: Dominik Ešegović
• Mentor: Igor Karšaj (mentor)
• Mentor: Ante Bakić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2016-12-08, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom radu proveden je dizajn i numerički proračun elementa manipulatora za ispitivanje dijelova nuklearnih elektrana. Tvrtka Inetec - Institut za Nuklearnu Tehnologiju razvila je mobilni manipulator Forerunner za ispitivanje cijevi parogeneratora PWR tipova elektrana. Manipulator se samostalno drži i giba po cijevnoj stijeni parogeneratora pomoću četiri posebno dizajnirana gripera. Pri tome elastični dio gripera - prst gripera, ulazi u cijev te se pomoću pneumatskog aktuatora radijalno širi i zaključava unutar cijevi. Prilikom ispitivanja dijelova nuklearnih elektrana poţeljno je da uređaji za ispitivanju budu što jednostavniji i da se sastoje od što manjeg broja komponenti. U skladu s tim proveden je razvoj nove verzije prsta gripera, koji se do sada sastojao od mehanizma s tri elementa, sa samo jednim elementom. U uvodnom dijelu rada ukratko su prikazani tipovi nuklearnih postrojenja i njihovi relevantni dijelovi. Prikazane su osnovne metode nerazornih ispitivanja u nuklearnoj industriji i postojeće izvedbe robota koje koriste te metode prilikom ispitivanja dijelova elektrana. Opisan je princip rada Forerunnera i mehanizma gripera. U posebnom poglavlju pokazani su osnovni teorijski principi potrebni za razumijevanje i definiranje numeričke analize koja uključuje velike deformacije i kontakt. Prikazane su osnove nelinearne analize i načini definiranja kontakta u programskom paketu Abaqus. Nakon verifikacije numeričkog modela na jednostavnom primjeru kontakta dvaju tijela, prikazan je tijek razvoja novog prsta gripera s pripadnim numeričkim proračunom. Na temelju rezultata numeričke analize nova verzija prsta gripera izrađena je i testirana u laboratoriju tvrtke Inetec gdje je pokazano da novi prst zadovoljava sve potrebne zahtjeve i pouzdano radi u predviđenom broju ciklusa zaključavanja.

Abstract (english)

The thesis presents the design process and numerical analysis of a manipulator component used in nuclear power plant inspections. Inetec - Institute for Nuclear Technology designed the Forerunner, a manipulator used for steam generator inspections in PWR nuclear power plants. The Forerunner uses four specifically designed grippers to lock his position on the steam generator tube sheet. In the gripping process, an elastic component of the gripper, called the gripper finger, is pushed into the tube. Through a pneumatic actuator, the finger then expands and locks to the tube. In the nuclear industry it is recommended to use equipment that consists of as few components as possible. Since the Forerunner gripper finger used a mechanism with three components, a new gripper finger with only one component was designed. In the introduction of the thesis, a short overview of nuclear power plants was provided. Basic nondestructive testing methods and current robotic system used in nuclear power plant inspections were shown. The inspection process was explained on the Forerunner. One chapter was dedicated to explaining basic theory concepts used in numerical analysis of problems that include large strains and contacts. The basics of nonlinear formulation and contact modeling in the software suite Abaqus FEA was provided. After presenting the used modeling techniques on a simple verification problem, an overview of the design process of the new gripper finger was given. The design process was accompanied with the appropriate numerical analysis using the finite element method. Based on the results of the numerical analysis, the new gripper finger was manufactured and tested in Inetecs laboratory, where it was shown that the new design of the gripper finger meets all the necessary demands and reliably works within the expected number of locking cycles.

• Keywords: numerička analiza; modeliranje kontakta; nelinearna analiza; ispitivanje nuklearnih elektrana
• Keywords (english): numerical analysis; contact modeling; nonlinear analysis; nuclear power plant inspections
• Language: croatian
• URN:NBN: urn:nbn:hr:235:047828
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2019-05-22 18:08:13