Demonstration of an ITER relevant remote handling equipment for Tokamak close inspection
Demonstration of an ITER relevant remote handling equipment for Tokamak close inspection
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用于托卡马克近距离检查的 ITER 相关远程处理设备演示
DOI：
10.1109/iros.2008.4650808
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
Y. Measson
中科院分区：
文献类型：
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作者：
D. Keller;Y. Perrot;L. Gargiulo;J. Friconneau;V. Bruno;R. Le;B. Soler;M. Itchah;D. Ponsort;P. Chambaud;J. Bonnemason;S. Lamy;Y. Measson
本工作涉及ITER相关聚变堆先进机器人系统的开发。可行性论证将在位于卡达拉什设施的热核实验托卡马克：Tore Supra上进行。由CEA-LIST的交互式机器人单元开发的机械手将用于托卡马克中的密切检查干预任务。该机器人必须满足严格的规格：小直径，长距离，9.5米的悬臂长度，在圆环形环境中移动的高度灵活性，并能够在其末端执行器上携带10公斤的有效载荷。由于机器人必须在不破坏机器调节的情况下引入，因此它必须科普真空和温度限制：超高真空（10-6 Pa）和120 degC在使用中，烘烤阶段为200 degC。这种长距离多连杆载体具有10个自由度（9个旋转关节和1个棱柱关节）。它由5个模块和一个精确的引导和推动系统（部署器）组成，总重量约为300公斤。机械手中的重力效应在很大程度上通过特殊的机械结构（MEMS）来补偿，该结构有助于减小致动器的尺寸。恶劣的操作条件要求选择几种真空和温度技术，这些技术已经过测试、鉴定或优化，以科普要求。2007年9月，远程处理设备在大气条件下在真实的托卡马克环境（Tore Supra）中的部署使整个原型合格。为了在真实的运行条件下通过机器人设备实现托卡马克近距离检查的完整可行性论证，必须在真空和温度下对该方案进行排练。该演示是该项目的重要一步，但进一步的开发是或可能是必要的，以科普100%的要求，以实现可靠的工业原型。特别是，由于其尺寸和重量，这种大型机器人操作器具有大量的弹性和几何变形。因此，它的准确性是一个挑战。可以开发考虑结构的柔性的机械模型，并且通过校准，可以识别模型参数，然后将其集成到真实的时间控制器中。在线监测系统的进一步先进发展也是必要的，以帮助操作员和故障检测。
This work concerns the development of an ITER relevant advanced robotic systems for fusion reactor. The feasibility demonstration will be performed on the thermonuclear experimental Tokamak: Tore Supra, located in Cadarache facilities. The manipulator developed by the interactive robotics unit of CEA-LIST will be used for close inspection intervention tasks in a Tokamak. The robot must meet severe specifications: small diameter, long reach with a 9.5 m cantilever length, high dexterity to move in a Torus shape environment and able to carry a 10 kg payload on its end effector. As the robot must be introduced without breaking the machine conditioning, it has to cope with the vacuum and temperature constraints: Ultra High Vacuum (10-6 Pa) and 120degC in use, 200degC during baking phase. This long reach multi-link carrier has 10 DOF (9 rotary joints and 1 prismatic joint). It is composed of 5 modules and a precise guiding and pushing system (the deployer) for a total weight of about 300 kg. The gravity effect in the manipulator is largely compensated by a special mechanical structure (the parallelogram) that helps reducing the size of the actuators. The severe operating conditions impose a selection of several vacuum and temperature technologies that have been tested, qualified or optimized to cope with the requirements.In September 2007, the Remote Handling Equipment deployment under atmospheric conditions in a real Tokamak environment (Tore Supra) enabled to qualify the entire prototype. The scenario has to be rehearsed under vacuum and temperature to achieve the complete feasibility demonstration of a Tokamak close inspection by means of a robotic equipment under real operating conditions. The demonstration is an important step in the project but further developments are or could be necessary to cope with 100% of the requirements toward a reliable industrial prototype. In particular, due to its size and weight, this large robot manipulator holds lots of elastic and geometric deformations. Thus its accuracy is a challenge. A mechanical model could be developed to take into consideration the flexibilities of the structure and by means of calibration, the model parameters could be identified and then integrated in a real time controller. Further advanced developments on the on line monitoring system are also necessary for operator assistance and fault detection.