Testing of TFTR´s remote maintenance manipulator

In order to limit the radiation exposure to maintenance personnel, the maintenance manipulator can be routinely deployed into the vacuum vessel to examine the TFTR (Tokamak Fusion Test Reactor) first-wall components and perform maintenance tasks as required. This device will enter the TFTR through a single port and deploy end effectors (or components) weighing up to 500 lbs to any location inside the vacuum vessel. The articulation of seven joints and six links, totalling 28 ft in length, allows 180° deployment in either the clockwise or counterclockwise direction. Results of performance tests on this device are summarized. The tests performed define the deployment repeatability, vertical and horizontal deflection (with and without load), vacuum outgassing characteristics, and performance for operation at various stages of bakeout and vacuum conditions