| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 6745435 | Fusion Engineering and Design | 2016 | 6 Pages |
Abstract
EAST articulated maintenance arm (EAMA) system is being collaboratively developed by ASIPP and CEA-IRFM for the purpose of remote inspection and simple maintenance operations in EAST vacuum vessel during physical experiments without breaking the ultra-high vacuum condition. The EAMA system design is based on a similar articulated inspection arm robot successfully demonstrated in Tore Supra in 2008. In order to better meet EAST configurations and maintenance requirements, optimized mechanisms and dimensions are considered for EAMA robot as upgrades. Besides, the segmented arm is equipped with a 3-DOF wrist end effector and gripper for gripping operation as well as inspection. Some calculations and simulations on statics, kinematics and workspace of EAMA have been presented to validate the feasibility. This paper introduces the overall design of the EAMA robot and presents implementation progress.
Keywords
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Energy Engineering and Power Technology
Authors
Shanshuang Shi, Yuntao Song, Yong Cheng, Eric Villedieu, Vincent Bruno, Hansheng Feng, Huapeng Wu, Peng Wang, Zhiwei Hao, Yang Li, Kun Wang, Hongtao Pan,