CMOR-DT: Tokamak device maintenance manipulator based on digital twin

Tokamak-based controlled nuclear fusion is widely acknowledged as the most viable path towards sustainable energy development. China Fusion Engineering Test Reactor (CFETR) fusion teleoperation program utilizes a seven-axis heavy-duty robotic arm to maintain its Tokamak device. This paper suggests employing digital twin technology for the operational maintenance of CFETR’s Multipurpose Overload Robot (CMOR), and discusses the development of a digital twin system according to its maturity level, ranging from simple to complex. Through real-time mapping of the heavy-duty manipulator’s motion planning control system with a virtual physics engine, we verify the feasibility of this digital twin system solution and anticipate future work in this area.