Design and evaluation of an advanced robotic bolting tool applied to IFMIF-DONES

IF 2 3区工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY

Fusion Engineering and Design Pub Date : 2025-02-26 DOI:10.1016/j.fusengdes.2025.114877

V. Redondo, N. Barbosa, P. Espinosa, M. Ferre

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Abstract

Operating bolts is a key aspect in most maintenance procedures. This work focuses on IFMIF-DONES (The International Fusion Materials Irradiation Facility - DEMO Oriented Neutron Source being built in Granada), where the radiation conditions require the use of robots for the maintenance procedures and some bolts need to be tightened at high torques to warrant proper functioning during operation.

The design presented in this contribution consists of a servo motor, a metallic structure, a socket wrench (as the physical interface with the bolt), a spring and a load cell between the motor and the socket wrench (to inform about the fitting of the bolt), and two slots for pins that will act both as reaction torque limiters and guiding system.

For the evaluation of the tool, a set of validation tests has been carried out in a mock-up developed in the laboratory. It consists of different screws and pins placed in a horizontal plane reachable by the robotic arm. During the experiments, the forces and torques in the joints of the robot are monitored, their analysis is presented in this work.

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应用于IFMIF-DONES的先进机器人螺栓工具的设计与评价

在大多数维护程序中，操作螺栓是一个关键方面。这项工作的重点是IFMIF-DONES（在格拉纳达建造的国际聚变材料辐照设施- DEMO定向中子源），在那里的辐射条件要求使用机器人进行维护程序，并且需要在高扭矩下拧紧一些螺栓以保证在运行期间正常工作。该设计包括一个伺服电机、一个金属结构、一个套筒扳手（作为螺栓的物理接口）、一个弹簧和一个位于电机和套筒扳手之间的称重传感器（用于通知螺栓的安装），以及两个插销槽，这两个插销槽既可以作为反作用力扭矩限制器，也可以作为导向系统。为了评估该工具，在实验室开发的模型中进行了一组验证测试。它由不同的螺钉和销组成，这些螺钉和销放置在机械臂可到达的水平面上。在实验过程中，对机器人关节中的力和力矩进行了监测，并对其进行了分析。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Fusion Engineering and Design 工程技术-核科学技术

CiteScore

3.50

自引率

23.50%

发文量

275

审稿时长

3.8 months

期刊介绍： The journal accepts papers about experiments (both plasma and technology), theory, models, methods, and designs in areas relating to technology, engineering, and applied science aspects of magnetic and inertial fusion energy. Specific areas of interest include: MFE and IFE design studies for experiments and reactors; fusion nuclear technologies and materials, including blankets and shields; analysis of reactor plasmas; plasma heating, fuelling, and vacuum systems; drivers, targets, and special technologies for IFE, controls and diagnostics; fuel cycle analysis and tritium reprocessing and handling; operations and remote maintenance of reactors; safety, decommissioning, and waste management; economic and environmental analysis of components and systems.