Study on the key technologies of the Transfer Equipment Cask for Tokamak Equator Port Plug

• Design on Intelligent Air Transfer System (IATS) for Transfer Equipment Cask (TECA).
• A rhombic-like parallel robot for docking with minimum misalignment.
• Design on electro-hydraulic servo system of the TECA for Tokamak Equator Port Plug (TEPP) manipulation.
• A control architecture with several algorithms and information acquired from sensors could be used by the TECA for Remote Handling (RH).

The Transfer Equipment Cask (TECA) is a key solution for Remote Handling (RH) in Tokamak Equator Port Plug (TEPP) operations. From the perspectives of both engineering and technical designs of effective experiments on the TEPP, key technologies on these topics covering the TECA are required. According to conditions in ITER (International Thermonuclear Experimental Reactor) and features of the TEPP, this paper introduces the design of an Intelligent Air Transfer System (IATS) with an adaptive attitude and high precision positioning that transports a cask system of more than 30 tons from the Tokamak Building (TB) to the Hot Cell Building (HCB). Additionally, different actuators are discussed, and the hydraulic power drive is eventually selected and designed. A rhombic-like parallel robot is capable of being used for docking with minimum misalignment. Practical mechanisms of the cask system are presented for hostile environments. A control architecture with several algorithms and information acquired from sensors could be used by the TECA. These designs yield realistic and extended applications for the RH of ITER.