Research on deformation prediction of CFETR multi-purpose overloaded robot based on real-time structural simulator

The CFETR Multi-Purpose Overload Robot (CMOR) is a key subsystem of the China Fusion Engineering Test Reactor (CFETR), which can perform maintenance tasks of the internal components. However, the large slenderness ratio of the structure results in low control accuracy of the CMOR end-effector. This paper proposes a CMOR deformation prediction method based on the real-time structural simulator. The overall deformation model of CMOR is analyzed based on the single joint deformation mechanism. Based on the principle of layered control, the control framework of the CMOR structural simulator is constructed, and the deformation data of CMOR in different positions are calculated based on the finite element method. A hybrid neural network containing a multilayer perceptron, transformer, and attention mechanism is designed to train the CMOR deformation prediction model. The training results show that the deformation prediction model converges quickly and fits the deformation of the CMOR structure well with small prediction errors. Finally, the real-time structure simulator is developed based on the deformation prediction model, and the deformation of CMOR is reconstructed with the update frequency of 2 Hz and the absolute error at any point within ±10 mm, which verifies the correctness of the CMOR structural deformation prediction method.