The design and implementation of automated maintenance system for the first-wall based on dual-arm manipulator
This paper proposed a framework of a dual-arm-based robotic maintenance system, including visual recognition, trajectory planning, force feedback control and master–slave control. To meet the requirements of automated maintenance, we proposed an improved design for the structures of the first wall tiles and support boards, and established a complete communication structure for the maintenance system that can adapt to different hardware versions. Based on the proposed framework, an experimental platform with dual-arm manipulator was established to demonstrate the maintenance scenario of the FW of the blanket in Vacuum Vessel (VV). The experimental result verified the feasibility of automated robotic maintenance system applied to the future fusion reactor.
Authors
- Aiming Liu (ORCID: https://orcid.org/0000-0002-5937-6278)
- Hongtao Pan (ORCID: https://orcid.org/0000-0002-2380-8382)
- Jun Zhang (ORCID: https://orcid.org/0000-0002-5595-3293)
- Yong Cheng (ORCID: https://orcid.org/0000-0002-6465-3022)
- Qingxi Yang (ORCID: https://orcid.org/0000-0003-4671-7165)
- Hao Han (ORCID: https://orcid.org/0000-0002-1135-9188)
- Ke Wu (ORCID: https://orcid.org/0009-0006-9925-3834)
- Tao Wang (ORCID: https://orcid.org/0009-0003-1825-0163)
Institutions
- University of Science and Technology of China (CN)
- Anhui University of Science and Technology (CN)
- Chinese Academy of Sciences (CN)
- Hefei Institutes of Physical Science (CN)
- Institute of Plasma Physics (CN)
Publication Details
- Journal
- Nuclear Engineering and Technology
- Published
- 2024-08-26
- DOI
- https://doi.org/10.1016/j.net.2024.08.039
- Primary Topic
- Industrial Technology and Control Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- National Natural Science Foundation of China
- National Development and Reform Commission