Assessment of a cooperative maintenance scheme for ITER divertor cooling pipes

A solution based on the cooperative work between a carrier sent into the pipe to perform part of the maintenance operations and an orbital tool positioned by a manipulator mounted on the Cassette Toroidal Mover (CTM) has been devised. A reference working area is defined and used to perform CAD simulations with a manipulator model. Work area accessibility is assessed using a virtual cutting/welding orbital tool.