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Manipulator for in-vessel remote maintenance of fusion experimental reactor

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10 Author(s)

The authors have been developing a rail-mounted vehicle system for remote maintenance of in-vessel plasma facing components of fusion experimental reactors. They have designed and fabricated a full-sized model of a divertor handling manipulator, which is a key component of the system. This paper describes the design and experimental results for the manipulator, which has a payload capacity of 1200 kg and can reach all in-vessel regions, including upper and lower divertor plates, that are up to 6 m from the horizontal ports. Using the manipulator, the authors have demonstrated the handling of the divertor plate, which weighs 1200 kg

Published in:

Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

26-30 Jul 1993