抄録
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.
| 元の言語 | English |
|---|---|
| ページ（範囲） | 243-246 |
| ページ数 | 4 |
| ジャーナル | Nuclear Fusion |
| 巻 | 42 |
| 発行部数 | 3 |
| DOI | |
| 出版物ステータス | Published - 2002 3 |
| 外部発表 | Yes |
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ASJC Scopus subject areas
- Physics and Astronomy(all)
- Condensed Matter Physics
- Nuclear and High Energy Physics
これを引用
Status of extended performance tests for blanket remote maintenance in the ITER L6 project. / Kakudate, S.; Oka, K.; Yoshimi, Takashi; Hiyama, M.; Taguchi, K.; Shibanuma, K.; Koizumi, K.; Matsumoto, Y.; Honda, T.; Haange, R.
：: Nuclear Fusion, 巻 42, 番号 3, 03.2002, p. 243-246.研究成果: Article
}
TY - JOUR
T1 - Status of extended performance tests for blanket remote maintenance in the ITER L6 project
AU - Kakudate, S.
AU - Oka, K.
AU - Yoshimi, Takashi
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.
UR - http://www.scopus.com/inward/record.url?scp=0036504991&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0036504991&partnerID=8YFLogxK
U2 - 10.1088/0029-5515/42/3/303
DO - 10.1088/0029-5515/42/3/303
M3 - Article
AN - SCOPUS:0036504991
VL - 42
SP - 243
EP - 246
JO - Nuclear Fusion
JF - Nuclear Fusion
SN - 0029-5515
IS - 3
ER -