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  2. 合肥物质科学研究院
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  4. 中科院等离子体物理研究所
Optimization of the geometric parameters of the EAST articulated maintenance arm (EAMA) with a collision-free workspace determination in EAST

文献类型：期刊论文

作者Wang, Kun1,3,4; Wang, Qi4; Cheng, Yong4; Wu, Huapeng3; Song, Yuntao1,4; Bruno, Vincent2,4
刊名FUSION ENGINEERING AND DESIGN
出版日期2019-02-01
卷号139期号:无页码:155-162
关键词EAMA Geometric parameters Coverage ratio Monte carlo method Workspace Collision detection
ISSN号0920-3796
DOI10.1016/j.fusengdes.2019.01.033
英文摘要

An EAST Articulated Maintenance Arm (EAMA), upgraded based on an articulated inspection arm (AIA), which was successfully operated in Tore Supra in 2008, was developed for the purpose of the inspection and maintenance of damaged internal components during plasma discharges without breaking the East Advanced Superconducting Tokamak (EAST) ultra-high vacuum condition. However, the coupling structure and high redundancy of the EAMA, due to the requirement of coverage ratio and the limitation of the EAST environment, produces a limited accuracy in positioning control. Therefore, the optimal design of the geometric parameters plays a vital role in the EAMA's performance. In this paper, the main characteristics of the EAMA system are investigated to formulate the optimization into a multi-objective problem. Furthermore, an approach based on the Monte Carlo method, integrated with a dedicated collision detection algorithm in the EAST environment, is elaborated on, which is utilized to calculate the collision-free workspace of the EAMA. With the knowledge of the workspace, the coverage ratio is obtained by a progressive meshing technique. Finally, several groups of geometric parameters are sampled to calculate the corresponding value of the objective functions, and the optimized combination of the geometric parameters is obtained by comparing the results.

WOS关键词CONCEPTUAL DESIGN
资助项目National 973 Program of China (Chinese ITER Special Support Project)[2014GB101000]
WOS研究方向Nuclear Science & Technology
语种英语
WOS记录号WOS:000458939100023
出版者ELSEVIER SCIENCE SA
资助机构National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project) ; National 973 Program of China (Chinese ITER Special Support Project)
源URL[http://ir.hfcas.ac.cn:8080/handle/334002/42148]  
专题合肥物质科学研究院_中科院等离子体物理研究所
通讯作者Wang, Qi
作者单位1.Univ Sci & Technol China, Hefei 230026, Anhui, Peoples R China
2.French Atom Energy & alternat Energy Commiss, Paris, France
3.Lappeenranta Univ Technol, Lappeenranta, Finland
4.Chinese Acad Sci, Hefei Inst Phys Sci, Hefei 230031, Anhui, Peoples R China
推荐引用方式
GB/T 7714		 Wang, Kun,Wang, Qi,Cheng, Yong,et al. Optimization of the geometric parameters of the EAST articulated maintenance arm (EAMA) with a collision-free workspace determination in EAST[J]. FUSION ENGINEERING AND DESIGN,2019,139(无):155-162.
APA Wang, Kun,Wang, Qi,Cheng, Yong,Wu, Huapeng,Song, Yuntao,&Bruno, Vincent.(2019).Optimization of the geometric parameters of the EAST articulated maintenance arm (EAMA) with a collision-free workspace determination in EAST.FUSION ENGINEERING AND DESIGN,139(无),155-162.
MLA Wang, Kun,et al."Optimization of the geometric parameters of the EAST articulated maintenance arm (EAMA) with a collision-free workspace determination in EAST".FUSION ENGINEERING AND DESIGN 139.无(2019):155-162.

入库方式： OAI收割

来源：合肥物质科学研究院

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