Macro-micro robotic remote welding for pipeline repair in nuclear environment

A teleoperated technology with the macro-micro-structure is presented for performing the pipeline repair welding in the nuclear remote environment.The fast connection approach of macro and micro manipulator robot is completed through the conversion interface and pneumatic tool clamping modules.A 6D force sensor is fixed between the end of macro-robot and micro-robot so that the remote operation of macro-micro robot takes active flexibility.The macro-micro teleoperation controller is designed,in which gravity compensation,adaptive pipeline assembly strategy and arc length control have been researched.Also,the experiments about grabbing the pipeline,assembling the pipeline and remote welding had been performed respectively.The results demonstrate that the macro-micro robot teleoperation remote welding system can be operated quickly for the pipeline welding repair in the limit environment,and the quality is stable and reliable.