Remote handling test and full-scale equipment development for ITER blanket maintenance

Author

Nakahira, M. ; Kakudate, S. ; Oka, K. ; Taguchi, K. ; Takiguchi, Y. ; Tada, E. ; Matsuhira, N. ; Shibanuma, K. ; Haange, R.

Author_Institution

JAERI, Ibaraki, Japan

Volume

2

fYear

1997

fDate

6-10 Oct 1997

Firstpage

929

Abstract

The technology of handling a 1-ton payload has been demonstrated using prototype transporter and manipulator/end-effector. Efforts have been made to develop an automatic procedure for module gripping and installation using sensor based feedback control. In this test, the end-effector is automatically aligned both in position and orientation relative to the module gripping points. This paper describes the prototype test results on sensor based control and the status of the test platform fabrication for ITER blanket remote maintenance

Keywords

fusion reactor blankets; fusion reactor operation; manipulators; materials handling; nuclear reactor maintenance; telerobotics; 1 ton; ITER blanket maintenance; automatic procedure; end-effector; full-scale equipment development; fusion reactors; manipulator; module gripping; prototype transporter; remote handling test; sensor based feedback control; test platform fabrication; Automatic control; Inductors; Plasma confinement; Prototypes; Rails; Remote handling; Research and development; Space technology; Testing; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Fusion Engineering, 1997. 17th IEEE/NPSS Symposium

Conference_Location

San Diego, CA

Print_ISBN

0-7803-4226-7

Type

conf

DOI

10.1109/FUSION.1997.687776

Filename

687776