Numerička analiza nosive konstrukcije LANCER 2 manipulatora

master's thesis

• Title (english): Numerical analysis of the LANCER 2 manipulator structure
• Author: Filip Jurkić
• Mentor: Ivica Skozrit (mentor)
• Mentor: Danijel Rohde (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2020-05-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; General Mechanical Engineering (Construction)

Abstract

U ovom radu proveden je numerički kontrolni proračun pojednostavljenog modela nosive konstrukcije LANCER 2 manipulatora. Tvrtka Inetec - Institut za Nuklearnu Tehnologiju razvila je manipulator LANCER 2 koji se kao dio ispitnog sustava koristi za ultrazvučno i vizualno ispitivanje reaktorske posude, jedne od komponenata primarnog kruga nuklearnih elektrana, cilindričnog oblika. Za vrijeme ispitivanja u rektorskoj posudi se nalazi voda dubine 22 m. Manipulator se portalnim granikom spušta u vodu te se pogoni vlastitim pogonom potisnika do stijenke reaktora. Manipulator na sebi može imati razne module namjenjene za ispitivanje određenih segmenata na reaktoru. Nakon pozicioniranja, manipulator ima 3 stupnja slobode gibanja. Na taj način omogućena je pokretljivost po plaštu reaktora. Cilj ovog rada je primjenom numeričkih simulacija provesti kontrolni proračun spuštanja manipulatora portalnim granikom u bazen i tako provjeriti krutost nosive konstrukcije manipulatora, budući da je jedan od najbitnijih zahtjeva kompenzacija između nosivosti i redukcije mase. Što je manipulator lakši, potrebno je manje materijala za plutanje pomoću kojeg je manipulator u netrualnom stanju u vodi po pitanju težine i uzgona. Pritom je, naravno, potrebno posvetiti pažnju na nosivost manipulatora, reduciranjem mase postojeće izvedbe, smanjuje se krutost manipulatora. U uvodnom dijelu, ukratko je prikazan princip rada najzastupljenijih tipova nuklearnih elektrana, pritom je naglasak stavljen na primarni krug nuklearnih elektrana s tlačnim (PWR- eng. Pressuirized Water Reactor) reaktorom. Zasebne komponente primarnog kruga posebno su ukratko opisane. Osnovni principi najzastupljenijih nerazornih ispitivanja korištenih u nuklearnim elektranama prikazani su na samom kraju uvodnog dijela. Nadalje se opisuje metoda konačnih elemenata te programski paket Abaqus. Opisani su i elementi korišteni u numeričkom proračunu. Elementi su zatim verificirani na jednostavnim zadatcima čime se dokazuje ispravnost metode. Numerička analiza gore opisanog manipulatora provedena je u unaprijed zadanim uvjetima opterećivanja i oslanjanja nosive konstrukcije za dva tipa 3D konačnih elemenata. Na kraju je dan kritički osvrt na dobivene rezultate i samu konstrukciju manipulatora.

Abstract (english)

The thesis presents numerical analysis of LANCER 2 manipulator's supporting structure used in nuclear power plant inspections. Inetec - Institute for Nuclear Technology has developed the LANCER 2 manipulator, which is used as part of the test system for ultrasonic and visual testing of a reactor vessel, one of the cilindrical components of a primary circuit of nuclear power plants. The manipulator itself may have various modules designed to inspect certain segments of the reactor. After positioning, the manipulator has 3 degrees of freedom of movement. In this way, reactor mobility is enabled. The goal of this paper is to perform a numerical simulation in order to control the descent of the manipulator by the portal crane into the pool and thus check the rigidity of the supporting structure of the manipulator, since one of the most important requirement is load-capacity and mass reduction compensation. The lighter the manipulator, the less float material is required for manipulator to preserve neutral state (weight vs buoyancy) in the water. It is necessary to control the payload of the manipulator, reduction of mass of the existing version, leads to reduction of the rigidity of the manipulator. In the introductory part, the principle of operation of the most common types of nuclear power plants is briefly presented, with an emphasis on the primary circuit of the Pressuirized Water Reactor power plant. The separate components of the primary circuit are specifically briefly described. The basic principles of the most common non-destructive testing used in nuclear power plants are shown at the very end of the introductory section. Furthermore the finite element method and the Abaqus software package is described. The elements used in the numerical calculation are also described. The elements were then verified on simple tasks to prove the integrity of the method. The numerical analysis of the manipulator described above was performed and finally, a critical review of the results obtained and the construction of the manipulator itself was given.

• Keywords: LANCER 2; numerička analiza; Abaqus; metoda konačnih elemenata; reaktor; nuklearne elektrane.
• Keywords (english): LANCER 2; numerical analysis; Abaqus; finite element method; reactor; nuclear powerplants
• Language: croatian
• URN:NBN: urn:nbn:hr:235:256990
• 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: Embargoed access; Embargo expiration date: 2025-05-07
• Created on: 2020-05-07 11:43:53