Ke Wu, Jun Zhang, Yong Cheng, Qingxi Yang, Hongtao Pan, Tao Wang, Aiming Liu, Hao Han
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引用次数: 0
Abstract
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.
期刊介绍：
Nuclear Engineering and Technology (NET), an international journal of the Korean Nuclear Society (KNS), publishes peer-reviewed papers on original research, ideas and developments in all areas of the field of nuclear science and technology. NET bimonthly publishes original articles, reviews, and technical notes. The journal is listed in the Science Citation Index Expanded (SCIE) of Thomson Reuters.
NET covers all fields for peaceful utilization of nuclear energy and radiation as follows:
1) Reactor Physics
2) Thermal Hydraulics
3) Nuclear Safety
4) Nuclear I&C
5) Nuclear Physics, Fusion, and Laser Technology
6) Nuclear Fuel Cycle and Radioactive Waste Management
7) Nuclear Fuel and Reactor Materials
8) Radiation Application
9) Radiation Protection
10) Nuclear Structural Analysis and Plant Management & Maintenance
11) Nuclear Policy, Economics, and Human Resource Development
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