Conceptual design of an in-vessel remote maintenance system for IGNITEX

The IGNITEX (Fusion Ignition Experiment) project seeks to build a compact, high-field, fusion-ignition experimental device. The work presented establishes the feasibility of providing an effective approach for maintaining the IGNITEX device in a way consistent with the IGNITEX general design philosophy which embodies simplicity, reliability, and lost cost. The major maintenance requirements (including out-vessel and in-vessel) are identified. Hands-on maintenance for the out-vessel area is considered. A remote maintenance system is considered for the IGNITEX in-vessel maintenance since the vacuum vessel has small access ports, reduced working space, and an activated structure. The functional requirements imposed upon the design are discussed. A manipulator with 90° toroidal reach, small cross-section of its links and joints, and of light weight is envisioned. The proposed in-vessel remote maintenance system (IVRMS) is composed of a manipulator, a series of special tools (end-effectors), a control system, and storage chamber. The manipulator is a snake-type manipulator with 11 degrees of freedom. The motion of the manipulator is described