{"title":"BEST托卡马克输送机械手结构优化方法","authors":"Fei Li, Wusheng Chou","doi":"10.1016/j.fusengdes.2025.115433","DOIUrl":null,"url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":55133,"journal":{"name":"Fusion Engineering and Design","volume":"222 ","pages":"Article 115433"},"PeriodicalIF":2.0000,"publicationDate":"2025-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Structural optimization method of transport manipulator for the BEST tokamak\",\"authors\":\"Fei Li, Wusheng Chou\",\"doi\":\"10.1016/j.fusengdes.2025.115433\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>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.</div></div>\",\"PeriodicalId\":55133,\"journal\":{\"name\":\"Fusion Engineering and Design\",\"volume\":\"222 \",\"pages\":\"Article 115433\"},\"PeriodicalIF\":2.0000,\"publicationDate\":\"2025-09-27\",\"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/S0920379625006295\",\"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}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Fusion Engineering and Design","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0920379625006295","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}
Structural optimization method of transport manipulator for the BEST tokamak
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.
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.