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...
| الحاوية / القاعدة: | Nuclear Engineering and Technology |
|---|---|
| المؤلفون الرئيسيون: | , , , , , , , , |
| التنسيق: | مقال |
| اللغة: | الإنجليزية |
| منشور في: |
Elsevier
2025-04-01
|
| الموضوعات: | |
| الوصول للمادة أونلاين: | http://www.sciencedirect.com/science/article/pii/S173857332400528X |
| _version_ | 1849321314461941760 |
|---|---|
| author | Yang Cheng Kun Lu Hongtao Pan Yong Cheng Guodong Qin Yongjun Sun Jun Zhang Wanjin Zhang Hao Han |
| author_facet | Yang Cheng Kun Lu Hongtao Pan Yong Cheng Guodong Qin Yongjun Sun Jun Zhang Wanjin Zhang Hao Han |
| author_sort | Yang Cheng |
| collection | DOAJ |
| container_title | Nuclear Engineering and Technology |
| description | 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) heavy load manipulator and a 3-DOF end-effector are designed and connected together to form a 10-DOF redundant robot. The inverse kinematics for such a high redundancy robot, considering obstacle avoidance in the complex space of VV, is a challenge. To solve this problem, the Jacobian method is adopted, and a method specially designed for obstacle avoidance of redundant robots working in the VV is integrated to simplify algorithm calculation and improve inverse solution efficiency. The algorithm is applied to solve the inverse kinematics of the redundant robot for the maintenance of the divertor plasma facing components (PFC) in VV. The results show that the inverse kinematics of the redundant robot can be solved quickly with high positioning accuracy. The method can also be used for other fusion reactor maintenance robots with some adjustments. The maintenance efficiency of redundant robot can be improved with the method which can be valuable for the whole remote handling process. |
| format | Article |
| id | doaj-art-60da452648f3410b94de96eb30cbfaa6 |
| institution | Directory of Open Access Journals |
| issn | 1738-5733 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | Elsevier |
| record_format | Article |
| spelling | doaj-art-60da452648f3410b94de96eb30cbfaa62025-09-02T11:21:24ZengElsevierNuclear Engineering and Technology1738-57332025-04-0157410327810.1016/j.net.2024.10.040Research on the inverse kinematics of heavy-load manipulator and end-effector for fusion reactorYang Cheng0Kun Lu1Hongtao Pan2Yong Cheng3Guodong Qin4Yongjun Sun5Jun Zhang6Wanjin Zhang7Hao Han8Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, 230031, China; University of Science and Technology of China, Hefei, 230026, ChinaInstitute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, 230031, China; Corresponding author.Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, 230031, China; Corresponding author.Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, 230031, ChinaInstitute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, 230031, ChinaInstitute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, 230031, ChinaInstitute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, 230031, China; University of Science and Technology of China, Hefei, 230026, ChinaInstitute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, 230031, ChinaInstitute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, 230031, ChinaThe 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) heavy load manipulator and a 3-DOF end-effector are designed and connected together to form a 10-DOF redundant robot. The inverse kinematics for such a high redundancy robot, considering obstacle avoidance in the complex space of VV, is a challenge. To solve this problem, the Jacobian method is adopted, and a method specially designed for obstacle avoidance of redundant robots working in the VV is integrated to simplify algorithm calculation and improve inverse solution efficiency. The algorithm is applied to solve the inverse kinematics of the redundant robot for the maintenance of the divertor plasma facing components (PFC) in VV. The results show that the inverse kinematics of the redundant robot can be solved quickly with high positioning accuracy. The method can also be used for other fusion reactor maintenance robots with some adjustments. The maintenance efficiency of redundant robot can be improved with the method which can be valuable for the whole remote handling process.http://www.sciencedirect.com/science/article/pii/S173857332400528XInverse kinematicRedundant robotRemote handlingHeavy-load manipulatorObstacle avoidance |
| spellingShingle | Yang Cheng Kun Lu Hongtao Pan Yong Cheng Guodong Qin Yongjun Sun Jun Zhang Wanjin Zhang Hao Han Research on the inverse kinematics of heavy-load manipulator and end-effector for fusion reactor Inverse kinematic Redundant robot Remote handling Heavy-load manipulator Obstacle avoidance |
| title | Research on the inverse kinematics of heavy-load manipulator and end-effector for fusion reactor |
| title_full | Research on the inverse kinematics of heavy-load manipulator and end-effector for fusion reactor |
| title_fullStr | Research on the inverse kinematics of heavy-load manipulator and end-effector for fusion reactor |
| title_full_unstemmed | Research on the inverse kinematics of heavy-load manipulator and end-effector for fusion reactor |
| title_short | Research on the inverse kinematics of heavy-load manipulator and end-effector for fusion reactor |
| title_sort | research on the inverse kinematics of heavy load manipulator and end effector for fusion reactor |
| topic | Inverse kinematic Redundant robot Remote handling Heavy-load manipulator Obstacle avoidance |
| url | http://www.sciencedirect.com/science/article/pii/S173857332400528X |
| work_keys_str_mv | AT yangcheng researchontheinversekinematicsofheavyloadmanipulatorandendeffectorforfusionreactor AT kunlu researchontheinversekinematicsofheavyloadmanipulatorandendeffectorforfusionreactor AT hongtaopan researchontheinversekinematicsofheavyloadmanipulatorandendeffectorforfusionreactor AT yongcheng researchontheinversekinematicsofheavyloadmanipulatorandendeffectorforfusionreactor AT guodongqin researchontheinversekinematicsofheavyloadmanipulatorandendeffectorforfusionreactor AT yongjunsun researchontheinversekinematicsofheavyloadmanipulatorandendeffectorforfusionreactor AT junzhang researchontheinversekinematicsofheavyloadmanipulatorandendeffectorforfusionreactor AT wanjinzhang researchontheinversekinematicsofheavyloadmanipulatorandendeffectorforfusionreactor AT haohan researchontheinversekinematicsofheavyloadmanipulatorandendeffectorforfusionreactor |