Abstract
The steam generator is an important heat transfer equipment in nuclear power plant. Its main component is the tube sheet with thousands of U-shaped heat transfer tubes. The inspection robot repairs the heat transfer tubes by positioning various types of tools to the specific heat transfer pipe, greatly reducing human intervention in the nuclear environment. Based on a brief overview of the research status of inspection robots used in steam generators, the mechanical structure of the body, tube-holding mechanism, collision detection, and trajectory planning are analyzed, problems and challenges are summarized, and the future development trend is prospected.
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