Title :
Analysis of the vertical oscillations of planar articulated boom (fusion reactor maintenance)
Author :
Ambrosino, G. ; Celentano, G. ; Garofalo, F.
Author_Institution :
Dipartimento di Inf. e Sistemistica, Napoli Univ., Italy
Abstract :
Proposes a procedure for the generation of a mathematical model for the vertical oscillations of a planar articulated boom with flexible links and joints. Although the procedure for the generation of the model is quite general, the authors focus attention on a planar manipulator used for the maintenance operations in a large fusion reactor of tokamak. Aim of the study is the evaluation of the dynamic oscillations in the vertical plane induced by external forces in the vertical direction or by the horizontal movements of the boom.<>
Keywords :
fusion reactors; manipulators; nuclear reactor maintenance; oscillations; dynamic oscillations; fusion reactor maintenance; planar articulated boom; planar manipulator; tokamak; vertical oscillations; Algorithm design and analysis; Differential equations; Elasticity; Fusion power generation; Fusion reactor design; Fusion reactors; Kinematics; Mathematical model; Partial differential equations; Tokamaks;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240462
