Fusion reactor handling operations with cable-driven parallel robots

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URI: https://hdl.handle.net/11556/3259
ISSN: 0920-3796
DOI: 10.1016/j.fusengdes.2015.06.009
Publication date
2015-10-01
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Abstract
Cable-driven parallel robots (CDPR) are in their concept cranes with inclined cables which allow control of all the degrees of freedom of its payload, and therefore stability of all the degrees of freedom, including rotations. The workspace of a CDPR is only limited by the length of the cables, and the payload capacity related to the mass of the whole robot is very important. Besides, the control being based on kinematic models, the behavior of a CDPR is really that of a robot capable of automated trajectories or remote handling. The present paper gives a presentation of two use case studies based on some of the assembly phases and remote handling actions as designed for the recent fusion machines. Based on the use cases already in place in fusion reactor baselines, the opportunity of using CDPR for assembly of structural elements and coils is discussed. Finally, prospects for remote handling equipment from the reactor in hot cells are envisioned based on current CDPR research.
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Publisher Copyright: © 2015 Elsevier B.V. All rights reserved.
Keywords
6DOF handling , High payload handling , Reactor assembly , Remote handling , Civil and Structural Engineering , Nuclear Energy and Engineering , General Materials Science , Mechanical Engineering , SDG 7 - Affordable and Clean Energy
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journal article
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Izard , J B , Michelin , M & Baradat , C 2015 , ' Fusion reactor handling operations with cable-driven parallel robots ' , Fusion Engineering and Design , vol. 98-99 , pp. 1505-1508 . https://doi.org/10.1016/j.fusengdes.2015.06.009