The design and implementation of automated maintenance system for the first-wall based on dual-arm manipulator
This paper proposed a framework of a dual-arm-based robotic maintenance system, including visual recognition, trajectory planning, force feedback control and master–slave control. To meet the requirements of automated maintenance, we proposed an improved design for the structures of the first wall t...
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| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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Elsevier
2025-02-01
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| Series: | Nuclear Engineering and Technology |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S1738573324004182 |
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| _version_ | 1832576497644208128 |
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| author | Ke Wu Jun Zhang Yong Cheng Qingxi Yang Hongtao Pan Tao Wang Aiming Liu Hao Han |
| author_facet | Ke Wu Jun Zhang Yong Cheng Qingxi Yang Hongtao Pan Tao Wang Aiming Liu Hao Han |
| author_sort | Ke Wu |
| collection | DOAJ |
| description | This paper proposed a framework of a dual-arm-based robotic maintenance system, including visual recognition, trajectory planning, force feedback control and master–slave control. To meet the requirements of automated maintenance, we proposed an improved design for the structures of the first wall tiles and support boards, and established a complete communication structure for the maintenance system that can adapt to different hardware versions. Based on the proposed framework, an experimental platform with dual-arm manipulator was established to demonstrate the maintenance scenario of the FW of the blanket in Vacuum Vessel (VV). The experimental result verified the feasibility of automated robotic maintenance system applied to the future fusion reactor. |
| format | Article |
| id | doaj-art-a3ca392067f846fabdf64c2bc496a2d3 |
| institution | Kabale University |
| issn | 1738-5733 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Nuclear Engineering and Technology |
| spelling | doaj-art-a3ca392067f846fabdf64c2bc496a2d32025-01-31T05:10:58ZengElsevierNuclear Engineering and Technology1738-57332025-02-01572103170The design and implementation of automated maintenance system for the first-wall based on dual-arm manipulatorKe Wu0Jun Zhang1Yong Cheng2Qingxi Yang3Hongtao Pan4Tao Wang5Aiming Liu6Hao Han7Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China; University of Science and Technology of China, Hefei 230026, ChinaInstitute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China; University of Science and Technology of China, Hefei 230026, ChinaInstitute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, ChinaInstitute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, ChinaInstitute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China; Corresponding author.Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China; University of Science and Technology of China, Hefei 230026, ChinaAnhui University of Science and Technology, Huainan 232000, ChinaInstitute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, ChinaThis paper proposed a framework of a dual-arm-based robotic maintenance system, including visual recognition, trajectory planning, force feedback control and master–slave control. To meet the requirements of automated maintenance, we proposed an improved design for the structures of the first wall tiles and support boards, and established a complete communication structure for the maintenance system that can adapt to different hardware versions. Based on the proposed framework, an experimental platform with dual-arm manipulator was established to demonstrate the maintenance scenario of the FW of the blanket in Vacuum Vessel (VV). The experimental result verified the feasibility of automated robotic maintenance system applied to the future fusion reactor.http://www.sciencedirect.com/science/article/pii/S1738573324004182Tokamak deviceFirst wallMaintenance systemTile structure improvementDual-arm manipulatorAutomated scheme |
| spellingShingle | Ke Wu Jun Zhang Yong Cheng Qingxi Yang Hongtao Pan Tao Wang Aiming Liu Hao Han The design and implementation of automated maintenance system for the first-wall based on dual-arm manipulator Nuclear Engineering and Technology Tokamak device First wall Maintenance system Tile structure improvement Dual-arm manipulator Automated scheme |
| title | The design and implementation of automated maintenance system for the first-wall based on dual-arm manipulator |
| title_full | The design and implementation of automated maintenance system for the first-wall based on dual-arm manipulator |
| title_fullStr | The design and implementation of automated maintenance system for the first-wall based on dual-arm manipulator |
| title_full_unstemmed | The design and implementation of automated maintenance system for the first-wall based on dual-arm manipulator |
| title_short | The design and implementation of automated maintenance system for the first-wall based on dual-arm manipulator |
| title_sort | design and implementation of automated maintenance system for the first wall based on dual arm manipulator |
| topic | Tokamak device First wall Maintenance system Tile structure improvement Dual-arm manipulator Automated scheme |
| url | http://www.sciencedirect.com/science/article/pii/S1738573324004182 |
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