| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 4921130 | Fusion Engineering and Design | 2017 | 9 Pages |
Abstract
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.
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Authors
Hongtao Pan, Kaihui He, Yong Cheng, Yuntao Song, Yang Yang, Eric Villedieu, Shanshuang Shi, Songzhu Yang,