Community Research and Development Information Service - CORDIS

Abstract

This paper is part of the remote handling (RH) activities for the future fusion reactor ITER. The aim of the R&D program performed under the European Fusion Development Agreement (EFDA) work program is to demonstrate the feasibility of close inspection tasks such as viewing or leak testing of the Divertor cassettes and the Vacuum Vessel (VV) first wall of ITER.
It is assumed that a long reach, limited payload carrier penetrates the ITER chamber through the openings evenly distributed around the machine such as In-Vessel Viewing System (IVVS) access or through upper port plugs.
To perform an intervention a short time after plasma shut down, the operation of the robot should be realised under ITER conditioning i.e. under high vacuum and temperature conditions (120 Degree Celsius).
The feasibility analysis drove the design of the so-called articulated inspection arm (AIA) which is a 8.2 m long robot made of five modules with a 11 actuated joints kinematics. A single module prototype was designed in detail and manufactured to be tested under ITER realistic conditions at CEA-Cadarache test facility.
As well as demonstrating the potential for the application of an AIA type device in ITER, this program is also dedicated to explore the necessary robotic technologies required to ITER�s IVVS deployment system.
This paper presents the whole AIA robot concept, the first results of the test campaign on the prototype vacuum and temperature demonstrator module.

Additional information

Authors: PERROT Y, Robotics and Interactive Systems Unit-CEA/LIST, Fontenay aux Roses (FR);FRICONNEAU J P, Robotics and Interactive Systems Unit-CEA/LIST, Fontenay aux Roses (FR);CORDIER J J, Département de Recherches sur la Fusion Contrôlée, Association Euratom-CEA sur la Fusion, CEA Cadarache, Saint-Paul-lez-Durance (FR);GARGIULO L, Département de Recherches sur la Fusion Contrôlée, Association Euratom-CEA sur la Fusion, CEA Cadarache, Saint-Paul-lez-Durance (FR);PALMER J D, EFDA CSU Garching, Garching (DE);MARTIN E, ITER International Team, Garching (DE);TESINI A, ITER International Team, ITER Naka Joint Work Site, Iberaki-ken (JP)
Bibliographic Reference: An article published in: Fusion Engineering and Design (2005), Volumes 75-79, Pages 537-541
Availability: This article can be accessed online by subscribers, and can be ordered online by non-subscribers, at: http://www.sciencedirect.com/science/journal/09203796
Record Number: 200719017 / Last updated on: 2007-04-02
Category: PUBLICATION
Original language: en
Available languages: en