Structural optimization method of transport manipulator for the BEST tokamak

IF 2 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY
Fei Li, Wusheng Chou
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引用次数: 0

Abstract

This study proposes a novel structural optimization framework integrating kinematic and static performance for the transport manipulator of China’s Burning Plasma Experimental Superconducting Tokamak (BEST), outperforming traditional single-objective approaches. A 1T3R (one translational, three rotational degrees of freedom) configuration is selected based on task requirements and geometric constraints. Link lengths are optimized using Sequential Quadratic Programming (SQP), achieving a 3.43% workspace increase compared to the Lagrange multiplier method. Cross-sectional parameters are optimized using Non-dominated Sorting Genetic Algorithm II (NSGA-II), with hollow rectangular sections reducing deformation and weight, improving the payload-to-weight ratio. This scalable framework enhances kinematic performance and payload-to-weight ratio, offering a robust solution for fusion reactor maintenance.
BEST托卡马克输送机械手结构优化方法
针对中国燃烧等离子体实验超导托卡马克(BEST)输送机械手,提出了一种综合运动学和静态性能的新型结构优化框架,优于传统的单目标优化方法。根据任务要求和几何约束选择1T3R(一个平移,三个旋转自由度)构型。使用顺序二次规划(SQP)优化链路长度,与拉格朗日乘法相比较,实现了3.43%的工作空间增加。采用非支配排序遗传算法II (NSGA-II)优化截面参数,空心矩形截面减少变形和重量,提高有效重量比。这种可扩展的框架提高了运动性能和有效载荷重量比,为聚变反应堆的维护提供了一个强大的解决方案。
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来源期刊
Fusion Engineering and Design
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.
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