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

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

doi:10.1088/0029-5515/42/3/303

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

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

Research output: Contribution to journal › Article › peer-review

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 language	English
Pages (from-to)	243-246
Number of pages	4
Journal	Nuclear Fusion
Volume	42
Issue number	3
DOIs	https://doi.org/10.1088/0029-5515/42/3/303
Publication status	Published - 2002 Mar
Externally published	Yes

ASJC Scopus subject areas

Nuclear and High Energy Physics
Condensed Matter Physics

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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.",

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T1 - Status of extended performance tests for blanket remote maintenance in the ITER L6 project

AU - Kakudate, S.

AU - Oka, K.

AU - Yoshimi, T.

AU - Hiyama, M.

AU - Taguchi, K.

AU - Shibanuma, K.

AU - Koizumi, K.

AU - Matsumoto, Y.

AU - Honda, T.

AU - Haange, R.

PY - 2002/3

Y1 - 2002/3

N2 - 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.

AB - 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.

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

Abstract

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