Articulated inspection arm for ITER, a demonstration in the Tore Supra tokamak

The aim of this R&D program is to demonstrate for ITER the feasibility of an in-vessel remote handling inspection using a long reach, limited payload carrier (1 to 10 kg) for penetration of the ITER chamber through the openings evenly distributed around the machine such as in-vessel viewing system (IVVS) access or upper ports access. This device is dedicated to close inspection processes of the plasma facing components (PFCs). The work performed with a support of the EFDA-CSU Workprogramme includes the design, manufacture and testing of an articulated device demonstrator called articulated inspection arm (AIA). The first part of this work concerned the analysis of the requirements to perform a realistic inspection in the ITER vacuum and temperature ambiance (120/spl deg/C at least). The conceptual design of the overall manipulator, completed in 2002, is based on a S modules kinematics with 11 actuated joints. To support the feasibility demonstration of the technology, a scale one mock up of a single module has been manufactured and tested, focusing on its ability to withstand the most critical loads. The main results concern improvement in the design margin to enhance AIA performances under ITER temperature and vacuum operational conditions. New AIA technologies, including components and materials have been qualified through outgassing tests at 230/spl deg/C with success. An upgraded AIA single module has been designed and its manufacturing is launched. This prototype module will be tested on the CEA-Cadarache test facility under real vacuum and baking temperature conditions. A feasibility study of a full AIA operation in Tore Supra was performed, taking into account ITER reference requirements. A scale one demonstration of the AlA under ITER relevant condition is feasible on Tore Supra and would give significant improvement in R&D results for ITER remote handling equipment. The test of the AlA demonstrator behaviour is foreseen in 2005 in real tokamak conditions. The paper presents the full robot concept, the results of the first test campaign, the AIA new design and its integration on Tore Supra. Several potential uses of the AIA for the in vessel components inspection are being studied such as PFC visual inspection, water loop leak testing, laser ablation for wall detritiation and carbon dust and flakes removal are foreseen as utilities to be placed at the AIA head. These various systems are described in the paper.