针对核电站热交换器人工检修作业异常困难的现状，提出了利用机器人进行传热管外部自动化检测的方案．采用模块化设计方法设计了由纵向移动模块、旋转模块、定位模块、伸缩模块、小车模块、底座和3 个驱动器等部分组成的机器人本体．小车搭载微型摄像头，可在传热管束的横向间隙中移动，对相关区域进行视频检查．提出了3-CSR 并联机构形式，设计了形状记忆合金弹簧驱动的微型3-CSR 并联机构来调整摄像头位姿，研制了机器人的控制系统，采用模糊控制理论设计了纵向移动模块的升降速曲线，提出了一种灰色评价方法对检测结果进行评估．制作了机器人样机系统进行试验，结果表明，机器人性能满足设计要求，可提高检查质量与效率．

As the maintenance of heat exchangers of nuclear power plants is extremely difficult to operate manually,this paper presents a scheme of using a robot to automatically inspect the exterior of heat transfer tubes. In the investigation,the robot is developed by a modular design approach and it mainly consists of a longitudinal mobile module,a rotary module,a locating module,an extending and retracting module,a micro vehicle module,a base,and three electrical motors. The micro vehicle carries a micro camera and can move in the transverse gap of tube bundles to perform video inspection on the target areas. Moreover,the form of 3-CSR parallel mechanism is proposed,and a micro 3-CSR parallel mechanism actuated by shape memory alloy ( SMA) coil springs is designed to adjust the micro camera pose. In addition,the control system is put forward,the acceleration and the deceleration curves of the longitudinal mobile module are designed based on fuzzy control theory,and a grey evaluation method is used to evaluate the inspection results. Experimental results from the prototyping system of the robot indicate that the robot can improve the quality and efficiency of inspection,thus meeting the design requirements.