Development of a micro-robot manipulator for the mechanical tests for fusion reactor materials research

针对高放射性试样力学试验的要求，研制了一种基于机器人的拉伸试验系统。该系统实现了样品辐射危害的减少和检测结果的统一精度，不依赖于实验人员的技能。目前的机器人系统设计用于容纳一个小型化的拉伸试样，其规格截面为5.5 mm x 1.2 mm，总长度和宽度分别为12.5 mm和2.3 mm，厚度约为0.2 mm。该系统由操作机器人、振动式送料机、旋转式送料盘、试样观察系统和模拟试验夹具以及控制系统的微机组成。该系统完成了试样盘内的试样排列、试样运输和装载到试验夹具上进行试验，并将破损的试样从夹具上取下。所有这些过程都是快速、安全、统一的测试，由一个不熟练的实验人员从远程计算机控制。目前的机器人系统是一个原型测试系统，以确认机器人操作应用于张力测试系统的可行性。实验证明，即使是一个不熟练的操作员在远程控制的机器人系统也可以安全、快速地进行小型化的拉伸试验。也可以期望获得均匀的精度。实验设置的改变将允许在低温或高温下使用该机器人系统进行测试。通过使用屏蔽板来屏蔽样品的辐射，该测试系统可以在热室外操作。这便于系统故障的恢复过程和维护。要做的改进是增加一个故障恢复系统，并保护电子设备和光学系统免受标本辐射的影响。最终，该系统将与一台真正的微型拉伸试验机相结合，用于测试放射性样品。少

For the requirements from the mechanical testing on highly radioactive specimens, a robot-based tensile test system has been developed. This system realized the reduction of radiation hazards from specimens and the uniform precision of testing results independent of an experimenters' skill. The present robot system is designed to accommodate a miniaturized tensile specimen whose gage section is 5.5 mm x 1.2 mm, total length and width are 12.5 mm and 2.3 mm, respectively, and thickness is around 0.2 mm. The system is composed of a manipulating robot, a vibrational type specimen feeder, a rotating type specimen tray, a specimen observation system and a simulated test fixture and a micro-computer for controlling the system. This system performs specimen arrangement in the specimen tray, speciment transportation and loading to the test fixture and testing, and removal of the broken specimen from the fixture. All of these procedures are performed quickly, safely and with uniform testing pre … More cision by computer control from a remote place by an unskilled experimenter.The present robot system is a prototype testing system to confirm the feasibility of an application of the robot operation to the tensile testing system. It was demonstrated that miniaturized tensile testing can be made safely and quickly by a robot system controlled even by an unskilled operator at a remote place. The acquisition of the uniform precision can also be expected.A change in the experimental setup will allow testing at low or elevated temperatures with this robot system By using shielding panel for the radiation from specimens, this testing system can be operated outside of a hot cell. This is convenient for the recovery procedures for the failure of the system and for its maintenance. The improvements of the system to be done are addition of a recovery system for failures and to protect the electronic devices and optical systems from the radiation of specimens. Eventually, this system will be coupled to a real miniature tensile test machine for testing radioactive specimens. Less