Mechanical characteristics and position control of vehicle/manipulator for ITER blanket remote maintenance

S. Kakudate, K. Oka, Takashi Yoshimi, K. Taguchi, M. Nakahira, N. Takeda, K. Shibanuma, K. Obara, E. Tada, Y. Matsumoto, T. Honda, R. Haange

Research output: Contribution to journalArticle

8 Citations (Scopus)

Abstract

In International Thermonuclear Experimental Reactor (ITER), blanket maintenance requires the 4-tonne module handling with high positioning accuracy of ±2 mm. In order to meet this requirement, it is essential to suppress the dynamic deflection and vibration of the remote handling equipment due to sudden transfer of the module weight from/to the back-plate supports to/from the equipment itself during installation and removal. A new control scheme was proposed and tested so as to suppress the dynamic behaviors. As a result, the dynamic deflection of the rail and the acceleration of the manipulator were successfully decreased to nearly zero. Based on the test results, the proposed control scheme was concluded to be effective so as to suppress this kind of dynamic effect during heavy component handling.

Original languageEnglish
Pages (from-to)993-999
Number of pages7
JournalFusion Engineering and Design
Volume51-52
DOIs
Publication statusPublished - 2000 Nov
Externally publishedYes

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Experimental reactors
Position control
Manipulators
Rails

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Nuclear Energy and Engineering
  • Civil and Structural Engineering
  • Mechanical Engineering

Cite this

Mechanical characteristics and position control of vehicle/manipulator for ITER blanket remote maintenance. / Kakudate, S.; Oka, K.; Yoshimi, Takashi; Taguchi, K.; Nakahira, M.; Takeda, N.; Shibanuma, K.; Obara, K.; Tada, E.; Matsumoto, Y.; Honda, T.; Haange, R.

In: Fusion Engineering and Design, Vol. 51-52, 11.2000, p. 993-999.

Research output: Contribution to journalArticle

Kakudate, S, Oka, K, Yoshimi, T, Taguchi, K, Nakahira, M, Takeda, N, Shibanuma, K, Obara, K, Tada, E, Matsumoto, Y, Honda, T & Haange, R 2000, 'Mechanical characteristics and position control of vehicle/manipulator for ITER blanket remote maintenance', Fusion Engineering and Design, vol. 51-52, pp. 993-999. https://doi.org/10.1016/S0920-3796(00)00413-0
Kakudate, S. ; Oka, K. ; Yoshimi, Takashi ; Taguchi, K. ; Nakahira, M. ; Takeda, N. ; Shibanuma, K. ; Obara, K. ; Tada, E. ; Matsumoto, Y. ; Honda, T. ; Haange, R. / Mechanical characteristics and position control of vehicle/manipulator for ITER blanket remote maintenance. In: Fusion Engineering and Design. 2000 ; Vol. 51-52. pp. 993-999.
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AU - Takeda, N.

AU - Shibanuma, K.

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