Positioning improvement based on structural and control optimization for EAST articulated maintenance arm

被引：1

作者：

Pan, Hongtao ^{[1
,2
]}

Sun, Yongjun ^{[3
]}

Cheng, Yong ^{[3
]}

Hao, Zhiwei ^{[3
]}

Liu, Jiasheng ^{[3
]}

Song, Yuntao ^{[3
]}

Villedieu, Eric ^{[4
]}

机构：

[1] Shenzhen Univ, Adv Energy Res Ctr, Shenzhen 518060, Peoples R China

[2] Shenzhen Univ, Coll Optoelect Engn, Key Lab Optoelect Devices & Syst, Minist Educ & Guangdong Prov, Shenzhen 518060, Peoples R China

[3] Chinese Acad Sci, Inst Plasma Phys, Hefei 330031, Peoples R China

[4] CEA, IRFM, F-13108 St Paul Les Durance, France

来源：

FUSION ENGINEERING AND DESIGN | 2020年 / 152卷

基金：

中国博士后科学基金;

关键词：

EAMA; Posioning accuracy; Elastic deformation; Structural optimization; Macro/micro manipulator;

D O I：

10.1016/j.fusengdes.2019.111425

中图分类号：

TL [原子能技术]; O571 [原子核物理学];

学科分类号：

0827 ; 082701 ;

摘要：

Fast inspection and light maintenance capability is already a clear demand to control the tokamak condition and improve the efficiency of the experimental campaigns. EAST remote maintenance system, being collaboratively developed by ASIPP and CEA-IRFM, has been demonstrated to implement inspection and grasping tasks during the operational phase, in between plasma shots, keeping the vacuum and temperature conditions of the vessel. In order to ensure the complete routine operation on EAST, positioning performance of EAMA robot should be improved to be able to realize precise collision-free movement. The structural optimization has been implemented to improve the positioning accuracy of the end-effector. Meanwhile, an adjustable kinematic model used to predict robot localization errors caused by the deformation of long flexible robot was developed and a kinematic compensation scheme based on macro/minor manipulator was proposed in the end.

引用

页数：10

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