Haptic master arm development for tele-manipulation in tokamak like challenging environments

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

Fusion Engineering and Design Pub Date : 2025-07-21 DOI:10.1016/j.fusengdes.2025.115355

Naveen Rastogi , Suryakant Gupta , Krishan Kumar Gotewal

{"title":"Haptic master arm development for tele-manipulation in tokamak like challenging environments","authors":"Naveen Rastogi , Suryakant Gupta , Krishan Kumar Gotewal","doi":"10.1016/j.fusengdes.2025.115355","DOIUrl":null,"url":null,"abstract":"<div><div>This paper presents the development and implementation of a haptic master arm designed for tele-manipulation tasks within the highly restrictive environment of a tokamak. The haptic arm is engineered to enable precise remote handling by mimicking natural arm movements, addressing the unique challenges posed by the tokamak's complex geometry and hazardous conditions. Key aspects of the mechanical design, control architecture, and system integration are detailed, with emphasis on the requirements for the teleoperation in the challenging environments. A comprehensive kinematic model is derived to calculate the arm motion and to ensure accurate end-effector positioning. Additionally, a prototype gravity compensation mechanism is developed and validated to improve operator comfort and reduce fatigue during extended operation. Experimental results demonstrate the arm's accuracy, intuitive control, and potential for remote maintenance applications in fusion research environments. The findings from this work help improve haptic feedback and remote control systems, making them more effective for use in challenging or narrow environments</div></div>","PeriodicalId":55133,"journal":{"name":"Fusion Engineering and Design","volume":"220 ","pages":"Article 115355"},"PeriodicalIF":2.0000,"publicationDate":"2025-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Fusion Engineering and Design","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0920379625005514","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"NUCLEAR SCIENCE & TECHNOLOGY","Score":null,"Total":0}

引用次数: 0

Abstract

This paper presents the development and implementation of a haptic master arm designed for tele-manipulation tasks within the highly restrictive environment of a tokamak. The haptic arm is engineered to enable precise remote handling by mimicking natural arm movements, addressing the unique challenges posed by the tokamak's complex geometry and hazardous conditions. Key aspects of the mechanical design, control architecture, and system integration are detailed, with emphasis on the requirements for the teleoperation in the challenging environments. A comprehensive kinematic model is derived to calculate the arm motion and to ensure accurate end-effector positioning. Additionally, a prototype gravity compensation mechanism is developed and validated to improve operator comfort and reduce fatigue during extended operation. Experimental results demonstrate the arm's accuracy, intuitive control, and potential for remote maintenance applications in fusion research environments. The findings from this work help improve haptic feedback and remote control systems, making them more effective for use in challenging or narrow environments

查看原文本刊更多论文

在具有挑战性的托卡马克环境中进行远程操作的触觉主臂开发

本文介绍了一种设计用于托卡马克高度受限环境下远程操作任务的触觉主臂的开发和实现。触觉臂的设计是通过模仿自然手臂运动来实现精确的远程操作，解决托卡马克复杂几何形状和危险条件带来的独特挑战。详细介绍了机械设计、控制体系结构和系统集成的关键方面，重点介绍了在具有挑战性的环境中远程操作的要求。推导了一个综合的运动学模型来计算臂的运动并保证末端执行器的精确定位。此外，开发并验证了重力补偿机制的原型，以提高操作人员的舒适度，减少长时间作业时的疲劳。实验结果表明，该手臂的精度，直观的控制，和潜在的远程维护应用在融合研究环境。这项工作的发现有助于改进触觉反馈和远程控制系统，使它们在具有挑战性或狭窄的环境中更有效地使用

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

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.