Status of extended performance tests for blanket remote maintenance in the ITER L6 project

S. Kakudate, K. Oka, Takashi Yoshimi, M. Hiyama, K. Taguchi, K. Shibanuma, K. Koizumi, Y. Matsumoto, T. Honda, R. Haange

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3 Citations (Scopus)

Abstract

Mechanically attached blanket module insertion tests were carried out for various misalignments between the module and the back plate. In the insertion tests, the module was successfully inserted up to a misalignment of ±10 mm with a clearance of ±(0.16-0.18) mm between key and groove. This was achieved owing to the passive compliance due to the flexibility of the manipulator with the assistance of the chamfer configuration of the key for smooth insertion. In addition, the 'correlation coefficient' based on the results obtained by the strain gauges located at the end effector was found to be useful for estimating the forces of the complex end effector during module insertion for the development of sensor based control.

Original languageEnglish
Pages (from-to)243-246
Number of pages4
JournalNuclear Fusion
Volume42
Issue number3
DOIs
Publication statusPublished - 2002 Mar
Externally publishedYes

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ASJC Scopus subject areas

  • Physics and Astronomy(all)
  • Condensed Matter Physics
  • Nuclear and High Energy Physics

Cite this

Kakudate, S., Oka, K., Yoshimi, T., Hiyama, M., Taguchi, K., Shibanuma, K., ... Haange, R. (2002). Status of extended performance tests for blanket remote maintenance in the ITER L6 project. Nuclear Fusion, 42(3), 243-246. https://doi.org/10.1088/0029-5515/42/3/303