Multi-functional Dual-arm actuator system design for Tokamak divertor maintenance

IF 2.6 3区工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY

Nuclear Engineering and Technology Pub Date : 2025-08-30 DOI:10.1016/j.net.2025.103860

Ruochen Yin , Yong Cheng , Zhonghua Wang , Si Chen , Hongtao Pan

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引用次数: 0

Abstract

During the remote handling maintenance of the divertor in the China Fusion Engineering Test Reactor (CFETR), a significant gap was observed between the repeatability performance of the CFETR Multipurpose Overload Robot (CMOR)—a key component—and the actual maintenance requirements. To address this issue, a dual-arm system is proposed in this paper, designed to carry various tools and fulfill a range of high-precision maintenance tasks. This dual-arm system supports rapid tool changes using a robotic tool changer and integrates intelligent maintenance algorithms aided by multiple sensors. A simulation environment was developed, and trajectory tracking experiments were conducted. The results indicate that the dual-arm system can meet the precision requirements of maintenance operations. Additionally, a stress analysis of the system’s key components was carried out using simulation software, followed by experiments in a real-world environment. The experimental results closely matched the simulation outcomes, demonstrating high reliability and suitability for engineering applications.

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托卡马克转向器维修的多功能双臂致动器系统设计

在中国聚变工程试验堆（CFETR）转向器的远程操作维护过程中，发现CFETR多用途过载机器人（cmoor）的可重复性性能与实际维护需求之间存在显著差距。为了解决这一问题，本文提出了一种双臂系统，设计用于携带各种工具并完成一系列高精度维护任务。该双臂系统使用机器人换刀器支持快速换刀，并集成了由多个传感器辅助的智能维护算法。开发了仿真环境，并进行了弹道跟踪实验。结果表明，该双臂系统能够满足维修作业的精度要求。此外，利用仿真软件对系统关键部件进行了应力分析，然后在真实环境中进行了实验。实验结果与仿真结果吻合较好，具有较高的可靠性和工程适用性。

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

Nuclear Engineering and Technology 工程技术-核科学技术

CiteScore

4.80

自引率

7.40%

发文量

431

审稿时长

3.5 months

期刊介绍： Nuclear Engineering and Technology (NET), an international journal of the Korean Nuclear Society (KNS), publishes peer-reviewed papers on original research, ideas and developments in all areas of the field of nuclear science and technology. NET bimonthly publishes original articles, reviews, and technical notes. The journal is listed in the Science Citation Index Expanded (SCIE) of Thomson Reuters. NET covers all fields for peaceful utilization of nuclear energy and radiation as follows: 1) Reactor Physics 2) Thermal Hydraulics 3) Nuclear Safety 4) Nuclear I&C 5) Nuclear Physics, Fusion, and Laser Technology 6) Nuclear Fuel Cycle and Radioactive Waste Management 7) Nuclear Fuel and Reactor Materials 8) Radiation Application 9) Radiation Protection 10) Nuclear Structural Analysis and Plant Management & Maintenance 11) Nuclear Policy, Economics, and Human Resource Development