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

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

Research output: Contribution to journalConference article

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
Event5th Interantional Symposium on Fusion Technology - Rome, Italy
Duration: 2000 Sep 192000 Sep 24

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ASJC Scopus subject areas

  • Civil and Structural Engineering
  • Nuclear Energy and Engineering
  • Materials Science(all)
  • Mechanical Engineering

Cite this

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, 51-52, 993-999. https://doi.org/10.1016/S0920-3796(00)00413-0