Conceptual design of EAST multi-purpose maintenance deployer system

EAST multi-purpose maintenance deployer (EMMD) system, being collaboratively developed by ASIPP and CEA-IRFM, is built as upgrades for EAMA. Updated kinematics parameters such as DOF distribution and joint angle for EMMD robot are performed and verified in a simulation platform. A new modular joint has been developed to optimize the yaw joint actuator for easy assembly and flexibility reduction. A 3-DOF gripper with cameras and torque sensor has been designed to provide inspection and dexterous handling of small fragments inside the EAST chamber. A conceptual upgrade for EAMA-CASK has been developed for the purpose of protecting the end-effector's sensors which do not have temperature-resistant qualification. The high temperature and vacuum compatible solutions and validation experiments have been presented in this paper.