Development of the 1/5 scale model of articulated boom system for in-vessel remote maintenance of Fusion Experimental Reactor

Positioning accuracy is essential in remote maintenance of in-vessel components. To develop an accurate control system, mechanical analysis with the finite element method and dynamic simulation have been carried out. Furthermore, a 1/5 scale prototype model of the boom system has been constructed to develop its control method and to verify the appropriate analysis models. The deflection and the vibration of the boom were measured actually in experiments and were compared with the results of FEM analysis. When the stiffness of joints was defined as a spring element and bolted parts of the boom were simulated in the FEM models, the results of the analysis were quite similar to that of experiments. This indicates the FEM model is appropriate. We have also performed dynamic simulations taking into account the servo control of the boom. Through these comparison, it is proved that this kind of analysis models can be applied to the full scale articulated boom system