Force analysis and simulation of a remote inspection robot for EAST

DOI

10.2991/jimet-15.2015.215How to use a DOI?

Keywords

EAST, in-vessel inspection, static analysis, robot

Abstract

Experimental Advanced Superconducting Tokamak(EAST),which is a full superconducting tokamak with D-shape vacuum vessel, has been set up by ASIPP since 2006. When the harsh working condition especially the radiation is taken into consideration, it’s difficult to obtain the information about the in-vessel components timely. The remote inspection robot system, named the long reach robot, is designed for the full volume inspection for the EAST vacuum vessel(VV). It is a serial-link robot with high cantilever structure, sufficient degree of freedoms(DOFs). It’s essential to investigate the force performance of the device because of some components are suffered high force and toque. The force analysis and simulation presented in this paper indicate that the long reach robot has high force sufficient strength and can work properly.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Zun Wu
AU  - Baoyuan Wu
AU  - Qiang Zhang
AU  - Zengfu Wang
PY  - 2015/12
DA  - 2015/12
TI  - Force analysis and simulation of a remote inspection robot for EAST
BT  - Proceedings of the 2015 Joint International Mechanical, Electronic and Information Technology Conference
PB  - Atlantis Press
SP  - 1142
EP  - 1146
SN  - 2352-538X
UR  - https://doi.org/10.2991/jimet-15.2015.215
DO  - 10.2991/jimet-15.2015.215
ID  - Wu2015/12
ER  -