Force analysis and simulation of a remote inspection robot for EAST
Experimental Advanced Superconducting Tokamak(EAST),which is a full superconducting tokamak with D-shape vacuum vessel, has been set up by ASIPP since 2006. When the harsh working condition especially the radiation is taken into consideration, its difficult to obtain the information about the in-vessel components timely. The remote inspection robot system, named the long reach robot, is designed for the full volume inspection for the EAST vacuum vessel(VV). It is a serial-link robot with high cantilever structure, sufficient degree of freedoms(DOFs). Its essential to investigate the force performance of the device because of some components are suffered high force and toque. The force analysis and simulation presented in this paper indicate that the long reach robot has high force sufficient strength and can work properly.
EAST in-vessel inspection static analysis robot
Zun Wu Baoyuan Wu Qiang Zhang Zengfu Wang
Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, 230031, China;Department of A Department of Automation, University of Science and Technology of China, Hefei, 230026, China
国际会议
重庆
英文
1142-1146
2015-12-18（万方平台首次上网日期，不代表论文的发表时间）