DocumentCode
3338738
Title
Analysis of the vertical oscillations of planar articulated boom (fusion reactor maintenance)
Author
Ambrosino, G. ; Celentano, G. ; Garofalo, F.
Author_Institution
Dipartimento di Inf. e Sistemistica, Napoli Univ., Italy
fYear
1991
fDate
19-22 June 1991
Firstpage
138
Abstract
Proposes a procedure for the generation of a mathematical model for the vertical oscillations of a planar articulated boom with flexible links and joints. Although the procedure for the generation of the model is quite general, the authors focus attention on a planar manipulator used for the maintenance operations in a large fusion reactor of tokamak. Aim of the study is the evaluation of the dynamic oscillations in the vertical plane induced by external forces in the vertical direction or by the horizontal movements of the boom.<>
Keywords
fusion reactors; manipulators; nuclear reactor maintenance; oscillations; dynamic oscillations; fusion reactor maintenance; planar articulated boom; planar manipulator; tokamak; vertical oscillations; Algorithm design and analysis; Differential equations; Elasticity; Fusion power generation; Fusion reactor design; Fusion reactors; Kinematics; Mathematical model; Partial differential equations; Tokamaks;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240462
Filename
240462
Link To Document