| Full name of the ITER is International Thermonuclear Experimental Reactor, which isthe world’s largest and most profound effect in the nuclear fusion of science andengineering project. The main goal is built a sustainablecombustionreactor and verifiedthepossibilityofthe peaceful utilization of nuclear fusionin Tokamak fusionreaction experiment.TheITERpartstransfer cask main usage is to completefusion reactorintransport, draggingandrepairwork. The6-DOF parallelplatformisacorecomponentofthetransfercask. Sixattitudes in the spacewhich areadjusted tothetransfercaskundertheguidanceofthe navigationsystem, inordertocompletethecaskand theTokamakvacuumchamber accuratedocking. The platform is a typical integration equipment of high grade, precision and advancedwhich involving machinery, hydraulic and control technology, and including three degrees of freedom movements and rotations. Theimportance ofdesignandconstructionis to master the design method of advancedproducts and design concept, through docking test of the platform, speeding up theprogress of ITER project in China. It is realized of China’s sustainable demandresources as soon as possible.The paper is based on thetheoryofkinematicsand dynamicsofthe6-DOF parallel platform. Firstly, according totheactualdemands of parallelplatformtransfer cask, the platform is designed fromthemechanical structure andchecked of its key partsfromstrength and security. Secondly, the main stress componentswere analyzed by finiteelementanalysis. Considering the docking requirements of the platform,the modal analysiscarried out the upper platform. Finally, the hydraulic system is introduced detailed and comprehensive.The research and simulationresults show this parallel platform can carry20t load and with0.03mm(0.05°) repeat positioning accuracy. It can meet demand of transport cask dockingwhich has a certain reference value in the ITER project. |
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