Abstract
EAST Articulated Inspection Arm (AIA) robot is being mutually developed by ASIPP and CEA-IRFM for remote handling maintenance. It will permit remote visual inspection and to pick up small fragments inside the EAST tokamak vacuum vessel during experiments. Considering storage and support for EAST AIA, a sealed cask system has been designed and manufactured, which can be connected to EAST device through a ϕ250 mm connection port with two flashboard valves. The system consists of a 10 m long vacuum vessel with a linear guide rail for storage, guiding and conditioning, two mobile wagons for support and some auxiliary systems for keeping suitable work conditions and measurement. Besides, a stainless steel shuttle has been developed to support AIA robot and assemble with the linear guide. It can push the robot into tokamak vessel and back to the storage cask with a gear-rack driving mechanism. This paper mainly presents the overall description of the system design and some obtained implementation progress.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
L. Gargiulo, P. Bayetti, V. Bruno et al., Development of an ITER relevant inspection robot. Fusion Eng. Des. 83(10), 1833–1836 (2008)
L. Gargiulo, J.J. Cordier, J.P. Friconneau et al., Towards operations on Tore Supra of an ITER relevant inspection robot and associated processes. Fusion Eng. Des. 82(15), 1996–2000 (2007)
L. Gargiulo, P. Bayetti, V. Bruno et al., Operation of an ITER relevant inspection robot on Tore Supra tokamak. Fusion Eng. Des. 84(2), 220–223 (2009)
D. Keller, P. Bayetti, J. Bonnemason et al., Real time command control architecture for an ITER relevant inspection robot in operation on Tore Supra. Fusion Eng. Des. 84(2), 1015–1019 (2009)
X.B. Peng, Y.T. Song, C.C. Li et al., Conceptual design of EAST flexible in-vessel inspection system. Fusion Eng. Des. 85(7), 1362–1365 (2010)
Y. Song, S. Wu, Y. Wan et al., Concept design on RH maintenance of CFETR Tokamak reactor. Fusion Eng. Des. 89(10), 2331–2335 (2014)
Y. Perrot, L. Gargiulo, M. Houry et al., Long-reach articulated robots for inspection and mini-invasive interventions in hazardous environments: recent robotics research, qualification testing, and tool developments. J Field Robot 29(1), 175–185 (2012)
Design description document of EAST AIA CASK system, China Hefei: ASIPP, 2013
H. Tang, G. Wang, C. Chen et al., A Hybrid of Fuzzy and PID Controller for EAST AIA CASK Baking System. J. Fusion Energ. 34(1), 42–48 (2015)
Y. Song, W. Wu, W. Xu et al., Electromagnetic, structural and thermal analyses of the vacuum vessel [M]/Tokamak engineering mechanics (Springer, Berlin Heidelberg, 2014), pp. 47–98
S. Shi, Y. Song, Q. Yang et al., Numerical analysis of MD events and preliminary thermal calculation for KTX vacuum vessel. Fusion Eng. Des. 88(12), 3180–3184 (2013)
Acknowledgments
This work was supported by the National “973” Program of China (Chinese ITER Special Support Project, No. 2014GB101000). We also deeply thank to all the members of cask design team and the colleagues in CEA IRFM for their hard work and beneficial discussions.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Shi, S.S., Song, Y.T., Cheng, Y. et al. Design and Implementation of Storage Cask System for EAST Articulated Inspection Arm (AIA) Robot. J Fusion Energ 34, 711–716 (2015). https://doi.org/10.1007/s10894-015-9869-8
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10894-015-9869-8