核聚变能是一种可以从根本上解决人类能源问题的清洁能源。近年来，受控核聚变研究取得了若干突破性进展。为了保持核聚变试验装置的正常运转，需要对其反应舱进行定期维护。然而，反应舱内部物理和几何条件复杂。除了具有高温、高真空和核辐射等特点之外，工作空间也异常狭小，维护人员不宜直接进入舱内对相关部件进行操控。因此，亟需研制一种可以替代人完成相关探测和维护任务的遥操纵机器人系统。 在上述背景下，本文针对实际应用需求设计并实现了可用于反应舱内部环境的、具有移动、观测和一定操控能力的多关节遥操纵机器人系统。 本文的主要学术贡献及创新点如下： 1.以核聚变试验装置EAST为对象，设计并实现了一种适用于核聚变反应舱内部环境的、各关节间可同步协调运行的悬空式多关节移动机器人系统。在结构上所述系统由前端的观测机构、中部的多个悬空机械臂和后端的直线轨道推送装置所组成。在控制上则采用轨道推送加悬臂调整的复合操控方案。 2.以核聚变试验装置EAST为对象，设计并实现了一种可在核聚变反应舱底部V型槽面上行走的蠕动式多关节移动机器人系统。该系统采用链式结构设计，由n个(n≥2)蠕动单元串联构成。每个蠕动单元为一个三段式结构，由两个位于两端对称设置的前、后体节和一个可做轴向运动的中体节所组成。对蠕动式移动机器人系统的行走步态进行了规划和分析，并据此构建了相关的多轴协调运动控制方案。 3.将前述悬空式多关节移动机器人系统和蠕动式多关节移动机器人系统进行组合，构建了可通过双向协调控制完成重载荷复杂操纵任务的多机器人协调控制系统。为此，在蠕动式多关节移动机器人系统上设计并实现了用于承载和支撑悬空式多关节机械臂的支撑机构。借助于该支撑机构可完成两台机器人之间的协调控制。这里，分析了所述支撑装置对于悬空式多关节机械臂的重力补偿效应，研究了如何通过双向协调控制提升整个系统的负载能力。 4.为了验证所研发系统的有效性，利用实际研制的两台多关节移动机器人原理样机开展了实验研究。为此，实际搭建了EAST核聚变反应舱的模拟环境，并据此对原理样机各组成部分的基本运动及承载性能进行了测试。实验结果表明，所研制的机器人原理样机具备良好的运动力学性能以及承载性能，在功能上满足设计要求。 关键词：核聚变反应舱，遥操纵系统，悬空式，蠕动式，多关节移动机器人，协调控制，原理样机，性能测试

 Nuclear fusion energy is a clean energy that can fundamentally solve the energy problem of human. In recent years, several breakthroughs have been made in the research of controlled fusion. In order to maintain the normal operation of the nuclear fusion test device, regular maintenance of its reaction vessel is required. However, the physical and geometrical conditions inside the reaction vessel are complex. Besides the characteristics of high temperature, high vacuum and nuclear radiation, the working space of the reaction vessel is very narrow. The maintainers should not enter the vessel directly and control the relevant parts. Therefore, it is urgent to develop a remote operation robot system that can replace the human to complete the relevant detection and maintenance tasks. Under the above background, a multi-joint remote operation robot system with mobile, observational, and control capabilities, which can be used in the inner environment of the reaction vessel, is designed and implemented for the purpose of practical application in this dissertation. The main research work of this dissertation is as follows: Firstly, based on the EAST nuclear fusion test device, a suspended multi-joint mobile robot system is designed and implemented, which is suitable for the internal environment of the fusion reaction vessel and is capable of synchronous and coordinated operation among joints. Structurally, the system is composed of an observation mechanism at the front, multiple suspended mechanical arms in the middle and a linear track pushing device at the back end. In the control, the system adopts the compound control scheme of track push and cantilever adjustment. Secondly, based on the EAST nuclear fusion test device, a peristaltic multi-joint mobile robot system walking on the V-shaped circular slot at the bottom of the nuclear fusion reaction vessel is designed and implemented. The system adopts chain structure design, which is composed of n (n≥2) peristaltic units in series. Each peristaltic unit is a three-segment structure, which consists of a fore and back segment symmetrically arranged at both ends and a middle segment that can move axially. The creeping gait planning of the peristaltic mobile robot system is analyzed to construct the related multi-axis coordinating movement control scheme. Thirdly, by combining the foregoing suspended multi-joint mobile robot system with the peristaltic multi-joint mobile robot system, a multi-robot coordinated control system capable of performing complex manipulation tasks of heavy load by bidirectional coordinated control is constructed. Therefore, a support mechanism for carrying and supporting suspended multi-joint mechanical arms is designed and implemented in the peristaltic multi-joint mobile robot system. Here, the gravity compensation effect of the support device on the suspended multi-joint mechanical arms is analyzed, and how to improve the load capacity of the whole system by bidirectional coordinated control is studied. Finally, in order to verify the effectiveness of the developed system, an experimental study is carried out by using a prototype of two multi-joint mobile robots. For this purpose, the simulation environment of the EAST fusion reaction vessel is set up, and the basic movement and bearing performance of each component of the prototype are tested. The experimental results show that the robot prototype has good mechanical performance and bearing capacity, which can meet the design requirements in function. Keywords: Nuclear fusion reaction vessel, Remote operation system, Suspended, Peristaltic, Multi-joint mobile robot, Coordinated control, Prototype, Performance test