Title :
Remote handling test and full-scale equipment development for ITER blanket maintenance
Author :
Nakahira, M. ; Kakudate, S. ; Oka, K. ; Taguchi, K. ; Takiguchi, Y. ; Tada, E. ; Matsuhira, N. ; Shibanuma, K. ; Haange, R.
Author_Institution :
JAERI, Ibaraki, Japan
Abstract :
The technology of handling a 1-ton payload has been demonstrated using prototype transporter and manipulator/end-effector. Efforts have been made to develop an automatic procedure for module gripping and installation using sensor based feedback control. In this test, the end-effector is automatically aligned both in position and orientation relative to the module gripping points. This paper describes the prototype test results on sensor based control and the status of the test platform fabrication for ITER blanket remote maintenance
Keywords :
fusion reactor blankets; fusion reactor operation; manipulators; materials handling; nuclear reactor maintenance; telerobotics; 1 ton; ITER blanket maintenance; automatic procedure; end-effector; full-scale equipment development; fusion reactors; manipulator; module gripping; prototype transporter; remote handling test; sensor based feedback control; test platform fabrication; Automatic control; Inductors; Plasma confinement; Prototypes; Rails; Remote handling; Research and development; Space technology; Testing; Vehicles;
Conference_Titel :
Fusion Engineering, 1997. 17th IEEE/NPSS Symposium
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4226-7
DOI :
10.1109/FUSION.1997.687776
