Structural Design of Multi-joint Foldable Robot Manipulator for Remote Inspection in Experimental Advanced Superconducting Tokamak (EAST)

被引：0

作者：

Wu, Baoyuan ^{[1
]}

Guo, Weibin ^{[1
]}

Liu, Yi ^{[1
]}

Zhang, Qiang ^{[1
,2
]}

Zhou, Ling ^{[1
]}

Yan, Qingquan ^{[1
]}

Zheng, Zhong ^{[1
]}

Wang, Zengfu ^{[1
,2
]}

机构：

[1] Chinese Acad Sci, HIPS, IIM, Hefei 230031, Anhui, Peoples R China

[2] Univ Sci & Technol China, Dept Automat, Hefei 230026, Anhui, Peoples R China

来源：

INTELLIGENT AUTONOMOUS SYSTEMS 14 | 2017年 / 531卷

基金：

中国国家自然科学基金;

关键词：

Experimental advanced superconducting tokamak (EAST); In-vessel inspection; Multi-joint foldable robot; Kinematic analysis; HANDLING SYSTEMS; ITER; VESSEL;

D O I：

10.1007/978-3-319-48036-7_72

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The tele-operated in-vessel inspection system is required for maintenance in nuclear fusion environment. A Multi-joint Foldable Robot (MFR) is designed for Experimental Advanced Superconducting Tokamak (EAST). The whole MFR system has been designed and implemented. The motion control experiments show that the design is reasonable and effective. The MFR system developed can be used to perform inspection task in a nuclear environment.

引用

页码：993 / 1002

页数：10

共 6 条

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