Analysis and optimization on in-vessel inspection robotic system for EAST

Wei-jun, Zhang; Zhou, Zeyu; Yuan, Jianjun; Du, Liang; Mao, Ziming

doi:10.1016/j.fusengdes.2015.07.024

Cited by 9 publications

(4 citation statements)

References 6 publications

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“…The test content was a first wall inspection process in one quick inspection of the entire toroidal vacuum vessel, which would be 2 h multi-axes movement of the manipulator joints (Zhang et al , 2015). The testing chamber temperature was set to 105°C, slightly higher than the outside static storage environment temperature and the in-vessel inspection environment temperature to ensure the validity of the test.…”

Section: High Temperature Environment Experimentsmentioning

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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Section: High Temperature Environment Experimentsmentioning

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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“…Therefore, the joint module prototype qualification tests must be conducted separately, with each test featuring one extreme factor at a given time. The current joint module design is intended to simulate the one-time in-vessel inspection process, which should be less than 1.5 h for one quick routine inspection (Zhang et al , 2015). The environmental tests are set to be 2 h of full-duty operation in a steady state according to the design criteria, with the joint module in reciprocating motion under closed-loop servo control.…”

Section: Joint Module Prototype Qualification Testsmentioning

confidence: 99%

“…However, the testing prototype has only one robotic joint with very limited joint travel distance; thus, direct application of the current joint module design will be quite scarce. Figure 8 presents one conceptual design of a prototype serial linkage manipulator with three similar joint structures, aimed to replace the end effector (small arm) of the FIVIS manipulator with full in-vessel environment compatibility (Zhang et al , 2015).…”

Section: Conceptual Application Of the Joint Module Design On An In-vessel Manipulatormentioning

confidence: 99%

“…The current FIVIS manipulator uses a successful in-vessel deployment process to cope with a restricted working space requirement (Zhang et al , 2015). In this paper, we discuss the design and early experiments of the principle prototype for EAST in-vessel manipulator adaptation work – a standalone joint module with working ability in extreme environments.…”

Section: Introductionmentioning

confidence: 99%

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Design and qualification tests of a robotic joint module for tokamak in-vessel manipulator use

Feng

Wang

et al. 2018

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Purpose This paper aims to present the design and a prototype experiment of a robotic joint module for tokamak in-vessel manipulator-related research; the results will promote the adaptation of current in-vessel inspection manipulator to achieve full tokamak in-vessel environment compatibility. Design/methodology/approach A flexible metallic bellow-enclosed working chamber is used to protect the main servo drive components, the active cooling method for high temperature protection and the servo control structure simplification for high radiation endurance. A joint module prototype is manufactured and tested under a similar in-vessel environmental condition for extreme condition protection validation and basic servo control ability evaluation. Findings The joint module prototype successfully survived the similar in-vessel environment tests and proved good mobility via closed-loop servo control. A conceptual design of a serial linkage manipulator with joint module structure is proposed for future in-vessel inspection manipulator development. Originality/value The proposed joint module uses common industrial servo components to achieve its full extreme in-vessel environment compatibility. Different from traditional metallic bellow application in a vacuum environment to produce a linear movement result, the proposed joint module aims to achieve rotating movement directly from the metallic bellow structure, thereby reducing the joint structure space requirement, simplifying the vacuum environment movement transmission structure and increasing the vacuum environment compatibility degree.

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Robotic replacement for disc cutters in tunnel boring machines

Yuan

Bao

et al. 2022

Automation in Construction

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Analysis and optimization on in-vessel inspection robotic system for EAST

Cited by 9 publications

References 6 publications

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

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

Design and qualification tests of a robotic joint module for tokamak in-vessel manipulator use

Robotic replacement for disc cutters in tunnel boring machines

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