A new trial of tokamak in-vessel inspection manipulator

Du, Liang; Yuan, Jianjun; Zhang, Weijun

doi:10.1016/j.fusengdes.2015.06.164

Cited by 4 publications

(2 citation statements)

References 6 publications

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“…A potential concern is the leakage of water when each joint moves, which has been considered in designing the cooling system for the small arm. The specially designed revo-connectors are added onto the arm joints, which ensures the continuous water flowing between each two relatively rotating arm frames and meanwhile prevent the leakage of water by using sealing rings (Du et al, 2015). When in operation, the chamber uses thermal resistance to heat the air and then blows the hot air into the experiment environment.…”

Section: High Temperature Experimentsmentioning

confidence: 99%

Design of cooling system for inspection manipulator and analysis based on experiment

Chen

Zhang

Yuan

et al. 2016

Industrial Robot: An International Journal

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Purpose – This paper aims to present a different cooling method (water cooling) to protect all the mechanical/electrical components for Tokamak in-vessel inspection manipulator. The method is demonstrated effective through high temperature experiment, which provides an economical and robust approach for manipulators to work normally under high temperature. Design/methodology/approach – The design of cooling system uses spiral copper tube structure, which is versatile for all types of key components of manipulator, including motors, encoders, drives and vision systems. Besides, temperature sensors are set at different positions of the manipulator to display temperature data to construct a close-loop feedback control system with cooling components. Findings – The cooling system for the whole inspection manipulator working under high temperature is effective. Using insulation material such as rubber foam as component coating can significantly reduce the environmental heat transferred to cooling system. Originality/value – Compared with nitrogen gas cooling applied in robotic protection design, although it is of less interest in prior research, water cooling method proves to be effective and economical through our high temperature experiment. This paper also presents an energetic analysis method to probe into the global process of water cooling and to evaluate the cooling system.

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Section: High Temperature Experimentsmentioning

confidence: 99%

Design of cooling system for inspection manipulator and analysis based on experiment

Chen

Zhang

Yuan

et al. 2016

Industrial Robot: An International Journal

Self Cite

View full text Add to dashboard Cite

show abstract

“…These operations are expected to be performed periodically during the plasma shutdown intervals when the in-vessel environment is still with extreme conditions of high temperature, high vacuum and high residual radiation effects. Previously, we developed an in-vessel inspection manipulator for the first wall inspection tasks of the Experimental Advanced Superconducting Tokamak (EAST) project (Peng et al , 2010; Du et al , 2015). The manipulator was specially designed with an extendable big arm structure, a foldable small arm structure and an in-vessel deployment structure, so it can enter the narrow vacuum vessel operation window and perform the in-vessel inspection tasks.…”

Section: Introductionmentioning

confidence: 99%

Design and experimental tests of an active cooling system for a kind of in-vessel inspection manipulator

Zhang

Yuan

2020

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Purpose This paper aims to present the design and experimental tests of an active circulating cooling system for the Experimental Advanced Superconducting Tokamak in-vessel inspection manipulator, which will help the current manipulator prototype to achieve a full-scale in-vessel high temperature environment compatibility. Design/methodology/approach The high-temperature effects and heat transfer conditions of the manipulator under in-vessel environment were analyzed. An active circulating cooling system was designed and implemented on the manipulator prototype. A simulative in-vessel inspection task in a high temperature environment of 100°C was carried out to evaluate the performance of the active circulating cooling system. Findings The proposed active circulating cooling system was proved effective in helping the manipulator prototype to achieve its basic in-vessel inspection capability in a high temperature environment. The active circulating cooling system performance can be further improved considering the cooling structure coefficient differences in different manipulator parts. Originality/value For the first time, the active circulating cooling system was implemented and tested on a full-scale of the in-vessel inspection manipulator. The experimental data of the temperature distribution inside the manipulator and the operating status of the circulating system were helpful to evaluate the current active circulating cooling system design and provided effective guidance for improving the overall system performance.

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Research of Maintenance Manipulator in Remote Handling System for Small Openings

Cao

2017

Transactions on Intelligent Welding Manufacturing

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A new trial of tokamak in-vessel inspection manipulator

Cited by 4 publications

References 6 publications

Design of cooling system for inspection manipulator and analysis based on experiment

Design of cooling system for inspection manipulator and analysis based on experiment

Design and experimental tests of an active cooling system for a kind of in-vessel inspection manipulator

Research of Maintenance Manipulator in Remote Handling System for Small Openings

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