| With the continuous development of human society,The demand for energy in the world is becoming bigger and bigger. At the same time,the available quantity of coal, oil, natural gas and other traditional non-renewable fossil energy is shrinking. On the one hand,the traditional energy is shrinking, cannot meet the requirements of the sustainable development of human beings,on the other hand, the traditional energy also brought a series of environmental problems. Therefore the development of new energy becomes inevitable task faced by humanity.Among these new energy,fusion has the advantages of safety, clean and sustainability, so the research on fusion gets the attention of many countries.International Thermonuclear Experimental Reactor(ITER) is a device to realize the controlled nuclear fusion in a way of magnetic confinement. Tokamak is the main device to realize magnetic confinement. This paper mainly researched on flexible in Tokamak vessel inspection robot transfer cask.Firstly, the cask kinematics system is designed to realize omnidirectional motion. Two wheels : Mecanum wheel and AGV steering wheel are compared and AGV steering wheel is selected as the cask wheel. Then kinematics simulation of cask is presented in this paper, and carry on the analysis to its kinematics result.Due to machining and assembly errors,the height of Tokmak and the planeness of rail plane and Tokmak plane may be different, so the lifting and leveling system is designed based on flexible connection.Then four points plane leveling principle is analyzed to design the lifting and leveling process.Finally,this paper designs the cask control system. Control system hardware including lifting and leveling system control system hardware based on PCI bus and omnidirectional motion system control hardware based on EtherCAT bus are selected and this paper also designs control system software. The control system is proved to be stable and reliable,and able to complete mission successfully. |
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