Gripping tool for the ITER upper port plug RH extraction/insertion

• The gripping tool is based on only one gripping point centred at the plug bottom.
• The gripping tool should allow the relative displacement in the gripping point to absorb the misalignment between plug and tractor.
• The gripping tool needs to withstand around 100/30 kN during the plug extraction/insertion.
• The gripping tool should rely on visual control and it has to avoid force feed-back.
• The comparison between the features of several gripping tool concepts is assessed.

The conceptual design of several gripping tools and their mechanical interfaces is being carried out for the ITER ECH UPP within the WP10-GOTRH programme. EFDA finances the GOT RH (Goal Oriented Training Programme for Remote Handling). The purpose of this paper is to introduce new concepts of gripping tools for the plug extraction/insertion in the upper port of ITER. All these gripping tools are designed according to IO input data and geometrical constraints. The gripping tools have to be able to extract/insert the plug in the scenario of maximum misalignment between the plug and the tractor. The paper also defines the functional requirements the gripping tools need to comply with. The requirements and input data are verified and validated through 3D simulation with Catia mock-ups of the gripping tools. The strengths and weaknesses of each gripping tool model are compared.