A Mathematical Model for Determining Parameters of an Innovative Gripper Mechanism in a Manipulator Robot during the Transfer of Highly Radioactive Fuel Elements between Containers

Abstract

Indeed, the utilization of optimal and quasi-optimal algorithms for iteratively estimating the kinematic and dynamic parameters of functioning actuators represents an original contribution in this research. The authors delve into an exploration of the kinematic and dynamic attributes of the multi-actuators within the innovative grasping mechanism, and elucidate their intentions to advance optimal filtering techniques to mitigate random disturbances.

This article holds significant interest and presents novel scientific insights. It primarily focuses on the mathematical modeling of the geometrical, kinematic, and dynamic parameters governing the interactions between the grasping mechanism and its operational environment, particularly within the context of highly radioactive solid waste management. The research aims to facilitate informed design decisions in the early stages of development, where numerous possibilities emerge..