Multi-functional Dual-arm actuator system design for Tokamak divertor maintenance

During the remote handling maintenance of the divertor in the China Fusion Engineering Test Reactor (CFETR), a significant gap was observed between the repeatability performance of the CFETR Multipurpose Overload Robot (CMOR)–a key component–and the actual maintenance requirements. To address this issue, a dual-arm system is proposed in this paper, designed to carry various tools and fulfill a range of high-precision maintenance tasks. This dual-arm system supports rapid tool changes using a robotic tool changer and integrates intelligent maintenance algorithms aided by multiple sensors. A simulation environment was developed, and trajectory tracking experiments were conducted. The results indicate that the dual-arm system can meet the precision requirements of maintenance operations. Additionally, a stress analysis of the system’s key components was carried out using simulation software, followed by experiments in a real-world environment. The experimental results closely matched the simulation outcomes, demonstrating high reliability and suitability for engineering applications.