废液储罐清理作业机器人系统设计

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摘  要：该文研制一种退役废液储罐清洗作业机器人系统。介绍该机器人的结构设计、运动学模型、轨迹规划方法，可灵活移动、越障，实现对退役废液储罐的高效清理。实验结果表明，该系统在平面和曲面壁上均具有卓越的规划效果，为废液储罐清理提供一项关键技术。

关键词：退役处理;清洗机器人;运动学模型;轨迹规划;废液储罐

中图分类号：TP242      文献标志码：A          文章编号：2095-2945（2025）02-0026-04

Abstract： In this paper， a robot system for cleaning retired waste liquid storage tanks is developed. The structural design， kinematic model， and trajectory planning method of the robot are introduced. It can flexibly move and overcome obstacles to achieve efficient cleaning of retired waste liquid storage tanks. Experimental results show that the system has excellent planning effect on both flat and curved walls， thereby providing a key technology for cleaning waste storage tanks.

Keywords： decommissioning; cleaning robot; kinematic model; trajectory planning; waste liquid storage tank

核能被认为是人类清洁、高效的能源之一，其可再生性引起了世界各国的极大关注。（剩余4720字）