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Systematic design of snake arm maintainer in nuclear industry

文献类型：期刊论文

作者Qin, Guodong2,3; Cheng, Yong1; Pan, Hongtao1; Zhao, Wenlong1; Shi, Shanshuang1; Ji, Aihong3; Wu, Huapeng2
刊名FUSION ENGINEERING AND DESIGN
出版日期2022-03-01
卷号176
关键词Chinese fusion engineering test reactor Snake arm maintainer Layered drive Multi-purpose overload robot
ISSN号0920-3796
DOI10.1016/j.fusengdes.2022.113049
通讯作者Ji, Aihong(meeahji@nuaa.edu.cn) ; Wu, Huapeng(huapeng.wu@lut.fi)
英文摘要This paper develops a remote handling system with a Snake Arm Maintainer (SAM) as the end effector, which aims to meet the maintenance needs of various narrow working spaces of the Chinese Fusion Engineering Test Reactor (CFETR). The multi-joint snake-arm is designed with the principle of layered drive to realie the angle synchronisation of adjacent joints, which reduces the complexity of the drive control system, and reduces the volume and weight while ensuring a high spatial curvature. The drive box is connected to the Multi-Purpose Overload Robot (CMOR) through a quick-change connector. The worm gear mechanism realies the reverse folding of the SAM and close to the CMOR, enabling access to the narrow vacuum chamber. Two working methods of SAM are designed based on trajectory planning and trajectory tracking. Finally, based on the actual environment of the CFETR vacuum chamber, simulation experiments were carried out on the rationality of the structural design of the SAM and the correctness of the working methods, which verified the feasibility of working in a narrow vacuum chamber.
WOS关键词MAINTENANCE ; REDUNDANT ; MANIPULATOR ; PROGRESS
资助项目National Key R&D programme of China[2019YFB1309600] ; National Natural Science Foun-dation of China[51861135306] ; National Natural Science Foun-dation of China[51875281] ; National Natural Science Foun-dation of China[11802305] ; China National Special Project for Magnetic Confinement Fusion Science Program[2017YFE0300503]
WOS研究方向Nuclear Science & Technology
语种英语
WOS记录号WOS:000781356600004
出版者ELSEVIER SCIENCE SA
资助机构National Key R&D programme of China ; National Natural Science Foun-dation of China ; China National Special Project for Magnetic Confinement Fusion Science Program
源URL[http://ir.hfcas.ac.cn:8080/handle/334002/128473]  
专题中国科学院合肥物质科学研究院
通讯作者Ji, Aihong; Wu, Huapeng
作者单位1.Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
2.Lappeenranta Univ Technol, Lappeenranta 53850, Finland
3.Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, Nanjing 210016, Peoples R China
推荐引用方式
GB/T 7714		 Qin, Guodong,Cheng, Yong,Pan, Hongtao,et al. Systematic design of snake arm maintainer in nuclear industry[J]. FUSION ENGINEERING AND DESIGN,2022,176.
APA Qin, Guodong.,Cheng, Yong.,Pan, Hongtao.,Zhao, Wenlong.,Shi, Shanshuang.,...&Wu, Huapeng.(2022).Systematic design of snake arm maintainer in nuclear industry.FUSION ENGINEERING AND DESIGN,176.
MLA Qin, Guodong,et al."Systematic design of snake arm maintainer in nuclear industry".FUSION ENGINEERING AND DESIGN 176(2022).

入库方式： OAI收割

来源：合肥物质科学研究院

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