Research on the inverse kinematics of heavy-load manipulator and end-effector for fusion reactor

The environment in Tokamak fusion reactor is hostile to remote handling (RH) equipment that maintains in-vessel components. Many maintenance tasks include transferring components, pipe cutting, and welding in the vacuum vessel (VV). To fulfill these maintenance works, a 7- degree-of-freedom (DOF) he...

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Bibliographic Details

Published in:	Nuclear Engineering and Technology
Main Authors:	Yang Cheng, Kun Lu, Hongtao Pan, Yong Cheng, Guodong Qin, Yongjun Sun, Jun Zhang, Wanjin Zhang, Hao Han
Format:	Article
Language:	English
Published:	Elsevier 2025-04-01
Subjects:	Inverse kinematic Redundant robot Remote handling Heavy-load manipulator Obstacle avoidance
Online Access:	http://www.sciencedirect.com/science/article/pii/S173857332400528X