RT Journal Article
T1 Fusion reactor handling operations with cable-driven parallel robots
A1 Izard, Jean Baptiste
A1 Michelin, Micael
A1 Baradat, Cédric
AB 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.
SN 0920-3796
YR 2015
FD 2015-10-01
LK https://hdl.handle.net/11556/3259
UL https://hdl.handle.net/11556/3259
LA eng
NO 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
NO Publisher Copyright: © 2015 Elsevier B.V. All rights reserved.
NO The research leading to these concepts has received funding from the EU FP7 under grant agreement n° NMP2-SL-2011-285404 (CABLEBOT).
DS TECNALIA Publications
RD 28 jul 2024