Systematic design of snake arm maintainer in nuclear industry

doi:10.1016/j.fusengdes.2022.113049

	Systematic design of snake arm maintainer in nuclear industry
	Qin, Guodong 1,2; Cheng, Yong 3; Pan, Hongtao 3; Zhao, Wenlong 3; Shi, Shanshuang 3; Ji, Aihong 1; Wu, Huapeng 2
刊名	FUSION ENGINEERING AND DESIGN
	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
DOI	10.1016/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.
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关键词	MAINTENANCE ; REDUNDANT ; MANIPULATOR ; PROGRESS
WOS研究方向	Nuclear Science & Technology
语种	英语
出版者	ELSEVIER SCIENCE SA
WOS记录号	WOS:000781356600004
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
内容类型	期刊论文
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.Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, Nanjing 210016, Peoples R China 2.Lappeenranta Univ Technol, Lappeenranta 53850, Finland 3.Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, 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).