Mechanism Design And Analysis Of Teleoperated Manipulator For The Maintenance Of Tokamak First Wall

Tokamak is the core equipment of the ITER reaction vessel. Becauseof the internal adverse conditions, inner maintenance operations ofTokamak must by manipulator. Complex robotic arm operations for thefirst wall of the Tokamak maintenance space constraints, diverse tasks inhigh operation accuracy requirements, the harsh operating environment,yet form a unified approved manipulator structure and design ideas.In this paper, the principle prototype general scheme for the first wallof the Tokamak maintenance is introduced. Based on this experimentalplatform, specific job tasks and master-slave teleoperation control of theoverall program is proposed. According to the characteristics of themaintenance job for first wall of the Tokamak, we summarizeteleoperation manipulator design principles, and based on these principles,design remote operated robotic arm configuration, determine the numberof degrees of freedom of the robot arm and joint type configuration.D-H method is introduced to establish teleoperation manipulator rodcoordinate system, and homogeneous transformation matrix is used toestablish robotic arm forward and inverse kinematics model. Analyze thework space of the robot arm using matlab, especially the end of the robotarm tool vertical space in the attitude of the first wall. To reach theoptimum working space as the main target, design the robot arm rodlength and joint angle range.According to the design specifications of the remotely operatedrobotic arm, complete the each joint drive selection, the design of the three-dimensional structure of the robot arm, UG three-dimensional modelof the manipulator joint and overall assembly drawing, and finite elementstrength check analysis is introduced. The positioning accuracy of therobot arm is estimated.Using OpenHRP3as the simulation platform, kinematics simulationis made to show the process of the teleoperation manipulator to enter theTokamak from the maintenance port, and the situation of the manipulatorworking on the first wall of Tokamak.