TY - JOUR
T1 - Mechanical characteristics and position control of vehicle/manipulator for ITER blanket remote maintenance
AU - Kakudate, S.
AU - Oka, K.
AU - Yoshimi, T.
AU - Taguchi, K.
AU - Nakahira, M.
AU - Takeda, N.
AU - Shibanuma, K.
AU - Obara, K.
AU - Tada, E.
AU - Matsumoto, Y.
AU - Honda, T.
AU - Haange, R.
PY - 2000/11
Y1 - 2000/11
N2 - In International Thermonuclear Experimental Reactor (ITER), blanket maintenance requires the 4-tonne module handling with high positioning accuracy of ±2 mm. In order to meet this requirement, it is essential to suppress the dynamic deflection and vibration of the remote handling equipment due to sudden transfer of the module weight from/to the back-plate supports to/from the equipment itself during installation and removal. A new control scheme was proposed and tested so as to suppress the dynamic behaviors. As a result, the dynamic deflection of the rail and the acceleration of the manipulator were successfully decreased to nearly zero. Based on the test results, the proposed control scheme was concluded to be effective so as to suppress this kind of dynamic effect during heavy component handling.
AB - In International Thermonuclear Experimental Reactor (ITER), blanket maintenance requires the 4-tonne module handling with high positioning accuracy of ±2 mm. In order to meet this requirement, it is essential to suppress the dynamic deflection and vibration of the remote handling equipment due to sudden transfer of the module weight from/to the back-plate supports to/from the equipment itself during installation and removal. A new control scheme was proposed and tested so as to suppress the dynamic behaviors. As a result, the dynamic deflection of the rail and the acceleration of the manipulator were successfully decreased to nearly zero. Based on the test results, the proposed control scheme was concluded to be effective so as to suppress this kind of dynamic effect during heavy component handling.
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U2 - 10.1016/S0920-3796(00)00413-0
DO - 10.1016/S0920-3796(00)00413-0
M3 - Conference article
AN - SCOPUS:17144450661
SN - 0920-3796
VL - 51-52
SP - 993
EP - 999
JO - Fusion Engineering and Design
JF - Fusion Engineering and Design
T2 - 5th Interantional Symposium on Fusion Technology
Y2 - 19 September 2000 through 24 September 2000
ER -