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A method for the determination of local packing factor distribution of a packed pebble bed by the improved line-based averaging method 一种利用改进的线性平均法确定堆积卵石床局部堆积因子分布的方法
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-09-10 DOI: 10.1016/j.fusengdes.2024.114658
Baoping Gong, Hao Cheng, Juemin Yan, Long Zhang

The packing factor is an important parameter for describing the internal structural features in pebble beds, which have a significant influence on the heat and mass transfer behavior and the thermo-mechanical properties of the pebble bed. A comprehensive understanding of the packing structure is essential for the design and optimization of the pebble bed and can promote the application of the pebble bed. In this work, an improved line-based averaging method was proposed to calculate the local packing factor or local porosity distribution and validated by comparing the results with those obtained from experimental and numerical studies of cylindrical packed pebble bed. Furthermore, the local packing factor distributions in the angular-radial plane of the cylindrical pebble bed were revealed for the first time. In addition, the line-based averaging method has been applied to reveal the local packing factor distributions in the annular pebble beds, U-shaped pebble beds and hexagonal pebble beds. The main feature of this method is the ability to calculate and plot contour maps of local packing factor or porosity distributions for columnar pebble beds of arbitrary shapes, especially the local packing factor distributions in the cross-sectional plane and the angular-radial plane.

填料系数是描述鹅卵石床内部结构特征的重要参数,对鹅卵石床的传热传质行为和热机械性能具有重要影响。全面了解填料结构对于卵石床的设计和优化至关重要,并能促进卵石床的应用。在这项工作中,提出了一种改进的基于线的平均方法来计算局部填料系数或局部孔隙率分布,并将计算结果与圆柱形填料卵石床的实验和数值研究结果进行了对比验证。此外,还首次揭示了圆柱形卵石床角径向平面上的局部堆积因子分布。此外,还应用线性平均法揭示了环形卵石床、U 形卵石床和六角形卵石床的局部堆积因子分布。该方法的主要特点是能够计算和绘制任意形状柱状卵石床的局部堆积因子或孔隙度分布等值线图,特别是横截面和角径向面上的局部堆积因子分布。
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引用次数: 0
Measurement of tritium release from Li2TiO3 breeder under fusion neutron irradiation by bubbling system 利用鼓泡系统测量聚变中子辐照下 Li2TiO3 增殖器的氚释放量
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-09-10 DOI: 10.1016/j.fusengdes.2024.114652
Wenhao Wu , Haixia Wang , Xuewei Fu , Jiaqing Wang , Chao Chen , Taosheng Li

In the solid breeder of deuterium-tritium (D-T) fusion reactor, tritium breeding stems from the reaction between Li atoms and neutrons. Due to the D-T fusion reactor has not been built yet, the accelerator-type fusion neutron source could be applied to tritium production experiments. The tritium yield is currently observed to be at a limited level. For measuring low-concentration tritium, the common method is to collect the tritium released from the breeder by the bubblers and then measure it with the liquid scintillator counter (LSC). Therefore, the selection of bubblers is crucial for effective tritium collection and accurate results of tritium release behavior. To maximize tritium collection, this study initially investigated the performance of different liquid volumes in bubblers utilizing standard tritiated water (HTO) and subsequently validated these selections through experiments involving tritium release of Li2TiO3 breeders irradiated by the accelerator-type fusion neutron source. The results demonstrated that the bubbler of total volume 60 ml filled with 20 ml liquid exhibited excellent tritium collection efficiency and repeatability, with the saturation coefficient close to 1. The selected bubbling system with catalytic oxidation was used to identify the different forms of tritium release from the tritium breeder irradiated by fusion neutrons. Neutronic simulation results further confirmed that the selected bubbling system had nearly 100 % collection efficiency. The simulated total amount of tritium released was consistent with the measured value of the bubbling system and LSC. These findings provide technical support for the study on the tritium release behavior of solid breeders irradiated by fusion neutrons.

在氘-氚(D-T)聚变反应堆的固体增殖器中,氚的增殖源于锂原子与中子的反应。由于 D-T 核聚变反应堆尚未建成,加速器型核聚变中子源可用于氚生产实验。目前观测到的氚产量水平有限。在测量低浓度氚时,常用的方法是收集从增殖器中由气泡释放出来的氚,然后用液体闪烁计数器(LSC)进行测量。因此,要想有效地收集氚,并准确地得出氚释放行为的结果,选择鼓泡器至关重要。为了最大限度地收集氚,本研究首先利用标准氚水(HTO)调查了鼓泡器中不同液体容量的性能,随后通过加速器型聚变中子源辐照 Li2TiO3 增殖器的氚释放实验验证了这些选择。结果表明,总容积为 60 毫升、装满 20 毫升液体的鼓泡器具有出色的氚收集效率和可重复性,饱和系数接近 1。中子模拟结果进一步证实,所选鼓泡系统的收集效率接近 100%。模拟的氚释放总量与鼓泡系统和 LSC 的测量值一致。这些发现为聚变中子辐照固体增殖器的氚释放行为研究提供了技术支持。
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引用次数: 0
The evolutionary process of W-V mixed dumbbell in tungsten crystals: A study about W-V alloy as a plasma-facing material in fusion devices 钨晶体中 W-V 混合哑铃的演化过程:关于 W-V 合金作为核聚变装置中面向等离子体材料的研究
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-09-09 DOI: 10.1016/j.fusengdes.2024.114655
Zilin Cui , Xin Zhang , Yuhong Xu , Akihiro Shimizu , Kunihiro Ogawa , Hiromi Takahashi , Mitsutaka Isobe , Guangjiu Lei , Sanqiu Liu , Heng Li , Jun Hu , Yiqin Zhu , Xiaolong Li , Huaqing Zheng , Xiaoqiao Liu , Haifeng Liu , Xianqu Wang , Hai Liu , Changjian Tang , CFQS team

Alloying is widely used to improve the radiation resistance of plasma-facing materials. The first-principles method based on density function theory was used in this work to study the stability and mobility properties of the W-V mixed dumbbell pair. The diffusion of monovacancy and recovery of mixed dumbbell pairs were also studied. The rotations and diffusion results indicated that the W-V mixed dumbbell pair diffusions are favored in two/three-dimensional motion because of low energy barriers. And the results are also suggested the mixed dumbbell lowers the diffusion energy barriers of the monovacancy. New vacancy diffusion modes were also observed along the 〈110〉 direction during the simulation. Besides, the addition of V may also moderate the diffusion of W SIA in 〈111〉 direction.

合金化被广泛用于提高面向等离子体的材料的抗辐射能力。本研究采用基于密度函数理论的第一原理方法研究了 W-V 混合哑铃对的稳定性和迁移率特性。此外,还研究了单可变性的扩散和混合哑铃对的恢复。旋转和扩散结果表明,由于能量障碍较低,W-V 混合哑铃对的扩散在二维/三维运动中是有利的。研究结果还表明,混合哑铃降低了单空位的扩散能垒。在模拟过程中,沿〈110〉方向也观察到了新的空位扩散模式。此外,V 的加入还可能缓和 W SIA 在〈111〉方向上的扩散。
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引用次数: 0
Analysis of pellet propellant gas expansion in the test bench of the ITER DMS Support Laboratory 在热核实验堆 DMS 支持实验室的试验台上分析颗粒推进剂气体膨胀情况
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-09-06 DOI: 10.1016/j.fusengdes.2024.114635
M. Vécsei , G. Anda , G. Bartók , G. Gárdonyi , S. Jachmich , I. Katona , D. Nagy , D. Oravecz , D. Réfy , T. Szepesi , E. Walcz , A. Zsákai , S. Zoletnik

The analysis of the gas expansion in the test bench of the ITER DMS Support Laboratory is discussed. For this purpose, numerical FEM simulations were performed during the design phase of the laboratory. These are compared with experimental data, that have been obtained after the construction of the test bench was finished. The numerical and experimental results have been found to agree well. Both indicate the emergence of pressure waves in the acceleration barrel. These contribute to the pellet detachment from the barrel wall. Supersonic velocities have been also observed in the simulations, and an indirect indication for their presence has been found in the experimental results. The main processes during the propellant gas expansion inside the propellant gas recovery chamber are discussed, and a rough estimate for the amount of gas entering the flight tube of the test bench before the pellet is presented.

本文讨论了对热核实验堆 DMS 支持实验室试验台上气体膨胀的分析。为此,在实验室设计阶段进行了有限元数值模拟。模拟结果与试验台建造完成后获得的实验数据进行了比较。结果表明,数值模拟和实验结果非常吻合。两者都表明加速筒中出现了压力波。这些压力波导致弹丸从筒壁脱离。在模拟中还观察到了超音速,实验结果也间接表明了超音速的存在。讨论了推进剂气体回收室内部推进剂气体膨胀的主要过程,并对在弹丸之前进入试验台飞行管的气体量进行了粗略估计。
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引用次数: 0
Tritium atmospheric dispersion modelling code, ROPUCO, for A-FNS risk assessment 用于 A-FNS 风险评估的氚大气扩散建模代码 ROPUCO
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-09-06 DOI: 10.1016/j.fusengdes.2024.114653
Shunsuke Kenjo , Sumi Yokoyama , Kentaro Ochiai , Satoshi Sato

Tritium is inevitably produced in a fusion neutron source facility, A-FNS, mostly via D-Li nuclear reactions. In the design activity of the A-FNS, radiological risk assessment for the public due to the tritium released from the facility is indispensable. We have developed a new dose assessment code, ROkkasho PUff COde (ROPUCO), which employs a Gaussian Puff model with considering tritium re-emission from soil for precise tritium dose assessments. In this study, ROPUCO was validated by benchmarking the experimental results for the Chalk River in 1987 and another tritium dose assessment code, ACUTRI. The results showed that ROPUCO could properly simulate tritium dispersion in the atmosphere under flat topography and uniform meteorological conditions.

在聚变中子源设施 A-FNS 中,氚不可避免地主要通过 D-Li 核反应产生。在 A-FNS 的设计活动中,必须对设施释放的氚对公众造成的辐射风险进行评估。我们开发了一种新的剂量评估代码 ROkkasho PUff COde (ROPUCO),该代码采用高斯帕夫模型,并考虑了土壤中氚的再发射,以进行精确的氚剂量评估。在这项研究中,ROPUCO 以 1987 年查克河的实验结果和另一个氚剂量评估代码 ACUTRI 为基准进行了验证。结果表明,在平坦地形和均匀气象条件下,ROPUCO 能正确模拟大气中的氚扩散。
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引用次数: 0
Contact angle measurements of liquid lithium on surface-modified stainless steel, insulating materials, and other metals and coatings 液态锂在表面改性不锈钢、绝缘材料及其他金属和涂层上的接触角测量结果
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-09-05 DOI: 10.1016/j.fusengdes.2024.114649
Steven Stemmley , Braden Moore , Cody Moynihan , Oren Yang , Kristin Skrecky , David Ruzic

Liquid lithium plasma facing components (PFCs) may provide an attractive alternative to more conventional solid PFCs due to improved plasma performance and the reduction of erosion and wall damage issues. Conceptual designs for liquid lithium divertors have been proposed, but a complete understanding of the interaction between liquid lithium and structural materials will be required for their successful implementation. One aspect of the interaction is the wetting of different materials by liquid lithium at temperatures relevant to fusion applications.

Contact angle measurements were used to study the wetting of liquid lithium on 304 stainless steel with varying surface roughnesses, metallic coatings, advanced alloys, and insulating materials in the temperature range from 200 °C to 350 °C. A mirror finish on 304 stainless steel was found to decrease the contact angle and lower the critical wetting temperature while all rougher 304 stainless steel treatments behaved similarly. For thin film coatings and other alloys, the surface roughness was found to impact the wettability more than the change in chemical composition. Compatibility issues with all three insulating materials tested are discussed and limited contact angle data was collected for these samples.

液态锂等离子体面组件(PFCs)可改善等离子体性能,减少侵蚀和壁面损坏问题,从而为更传统的固态 PFCs 提供有吸引力的替代品。目前已经提出了液态锂分流器的概念设计,但要成功实施这些设计,还需要全面了解液态锂与结构材料之间的相互作用。接触角测量用于研究在 200 °C 至 350 °C 的温度范围内,液态锂对具有不同表面粗糙度的 304 不锈钢、金属涂层、高级合金和绝缘材料的润湿情况。研究发现,304 不锈钢表面的镜面处理会减小接触角并降低临界润湿温度,而所有较粗糙的 304 不锈钢处理则表现类似。对于薄膜涂层和其他合金,表面粗糙度对润湿性的影响大于化学成分的变化。讨论了与所有三种测试绝缘材料的兼容性问题,并为这些样品收集了有限的接触角数据。
{"title":"Contact angle measurements of liquid lithium on surface-modified stainless steel, insulating materials, and other metals and coatings","authors":"Steven Stemmley ,&nbsp;Braden Moore ,&nbsp;Cody Moynihan ,&nbsp;Oren Yang ,&nbsp;Kristin Skrecky ,&nbsp;David Ruzic","doi":"10.1016/j.fusengdes.2024.114649","DOIUrl":"10.1016/j.fusengdes.2024.114649","url":null,"abstract":"<div><p>Liquid lithium plasma facing components (PFCs) may provide an attractive alternative to more conventional solid PFCs due to improved plasma performance and the reduction of erosion and wall damage issues. Conceptual designs for liquid lithium divertors have been proposed, but a complete understanding of the interaction between liquid lithium and structural materials will be required for their successful implementation. One aspect of the interaction is the wetting of different materials by liquid lithium at temperatures relevant to fusion applications.</p><p>Contact angle measurements were used to study the wetting of liquid lithium on 304 stainless steel with varying surface roughnesses, metallic coatings, advanced alloys, and insulating materials in the temperature range from 200 °C to 350 °C. A mirror finish on 304 stainless steel was found to decrease the contact angle and lower the critical wetting temperature while all rougher 304 stainless steel treatments behaved similarly. For thin film coatings and other alloys, the surface roughness was found to impact the wettability more than the change in chemical composition. Compatibility issues with all three insulating materials tested are discussed and limited contact angle data was collected for these samples.</p></div>","PeriodicalId":55133,"journal":{"name":"Fusion Engineering and Design","volume":null,"pages":null},"PeriodicalIF":1.9,"publicationDate":"2024-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0920379624005003/pdfft?md5=fdcb6dcd2a30e07727e311a6015b0517&pid=1-s2.0-S0920379624005003-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142148994","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Impact analysis of power supply fault-state on magnets in fusion devices 电源故障状态对聚变装置磁体的影响分析
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-09-05 DOI: 10.1016/j.fusengdes.2024.114656
Xining Zhang , Hua Li , Guanghong Wang , Zhiquan Song , Meng Xu , Qianglin Xu , Zhenhan Li

The magnet power supply system is one of the important subsystems of nuclear fusion devices. Although it has undergone strict safety and stability verification before design and operation, the experimental conditions at the work site still have uncertainty. The fast discharge unit may not be able to open and the magnet power supply may have a ground fault. Therefore, it is necessary to systematically analyze the above possible fault conditions, in order to better protect the superconducting magnet. In this paper, the quench protection system and grounding protection system of TF coil magnet power supply are theoretically analyzed and calculated. According to the calculation results, the TF coil fault simulation model is built in MATLAB/Simulink, and the influence of the fault state of the power supply on the magnet is systematically analyzed. The results show that the maximum voltage at fault is much higher than the rated voltage during operation, so a larger margin should be considered in the design process to protect the superconducting magnet. The research in this paper has certain guiding significance for the design of fast discharge unit and TF magnet coil grounding system, and plays an important role in the performance and safety of fusion device operation.

磁体供电系统是核聚变装置的重要子系统之一。虽然在设计和运行前经过了严格的安全性和稳定性验证,但工作现场的实验条件仍存在不确定性。快放装置可能无法打开,磁体电源可能出现接地故障。因此,有必要对上述可能出现的故障情况进行系统分析,以便更好地保护超导磁体。本文对 TF 线圈磁体电源的淬火保护系统和接地保护系统进行了理论分析和计算。根据计算结果,在 MATLAB/Simulink 中建立了 TF 线圈故障仿真模型,系统分析了电源故障状态对磁体的影响。结果表明,故障时的最大电压远高于工作时的额定电压,因此在设计过程中应考虑较大的裕量来保护超导磁体。本文的研究对快速放电装置和 TF 磁体线圈接地系统的设计具有一定的指导意义,对核聚变装置运行的性能和安全具有重要作用。
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引用次数: 0
Design and development of a PXI based data acquisition & control system for floating cesiated tungsten dust driven negative ion source 设计和开发基于 PXI 的数据采集和控制系统,用于浮动铯化钨粉驱动负离子源
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-09-04 DOI: 10.1016/j.fusengdes.2024.114644
S.S. Kausik , Nipan Das , B.K. Saikia , N.B. Sarma , D. Kalita , R. Yadav , A. Gahlaut , M. Bandyopadhyay

A production mechanism for negative hydrogen ions using cesium coated tungsten dust particles in hydrogen plasma has been established at the Centre of Plasma Physics – Institute for Plasma Research (CPP-IPR). A new experimental setup has been developed for the production, extraction and acceleration of such H ions. The extraction and acceleration of H ions in this system require a high voltage supply and a floating configuration based plasma source. Due to the high complexity and safety concerns associated with the experimental system, a reliable and robust instrumentation and control system has been developed and is presented in this work. To monitor and control various experimental parameters, a PXI-based event-driven interlock and a requirement-based continuous data acquisition and control system have been designed, developed, and commissioned, incorporating fiber optic links. The software for the control sequences, including monitoring and acquisition, has been developed and implemented on a Real-Time Controller using LabVIEW 2020. The system has been tested, and some experiments have been conducted. Experimental results, along with the test results of the system components, are presented in the paper.

等离子体物理中心-等离子体研究所(CPP-IPR)利用氢等离子体中的铯涂层钨尘粒建立了负氢离子的产生机制。为产生、萃取和加速这种氢离子,开发了一种新的实验装置。在该系统中,H 离子的萃取和加速需要高压电源和基于浮动配置的等离子源。由于实验系统的高度复杂性和安全问题,我们开发了一套可靠、稳健的仪器和控制系统,并在本作品中进行了介绍。为了监测和控制各种实验参数,我们设计、开发并调试了一个基于 PXI 的事件驱动联锁系统和一个基于需求的连续数据采集和控制系统,其中包含光纤链接。使用 LabVIEW 2020 在实时控制器上开发并实施了包括监测和采集在内的控制程序软件。系统已经过测试,并进行了一些实验。本文介绍了实验结果以及系统组件的测试结果。
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引用次数: 0
Coupled model for liquid lithium plasma facing components 面向组件的液态锂等离子体耦合模型
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-09-03 DOI: 10.1016/j.fusengdes.2024.114651
Andrei Khodak, Eric Emdee, Robert Goldston, Rajesh Maingi

Numerical analysis provides the design choice and operating window of liquid metal Plasma Facing Components (PFC) concepts. Coupled analysis of boundary plasma together with the surrounding boundary structures is required. To achieve this goal, PPPL is developing a comprehensive multi-physics model for modeling of PFCs in fusion devices. The model includes the fluid-kinetic code SOLPS-ITER and the flow and heat transfer code CFX from ANSYS. SOLPS-ITER was augmented with a liquid metal boundary condition algorithm, allowing direct two-way coupling of the plasma analysis with the two-dimensional analytical slab flow model which includes heat convection in the liquid metal PFC. The target heat flux resulting from this coupled analysis is used as a boundary condition for detailed 3D Computational Fluid Dynamics (CFD) Magneto Hydro Dynamics (MHD) and heat transfer analysis. A new formulation of MHD equations is introduced in the numerical procedure ensuring current conservation of the discretized equations. Results of the 3D analysis are used for final validation of the coupled model. A PFC design where a porous wall is used to stabilize the liquid metal surface, while MHD drive is used to push the liquid metal flow inside the PFC, will be investigated in the regimes where vapor shielding is created for enhanced volumetric plasma heat dissipation.

数值分析为液态金属等离子面组件(PFC)概念提供了设计选择和运行窗口。需要对边界等离子体和周围边界结构进行耦合分析。为实现这一目标,PPPL 正在开发一个用于聚变装置中 PFC 建模的综合多物理场模型。该模型包括流体动力学代码 SOLPS-ITER 和 ANSYS 的流动与传热代码 CFX。SOLPS-ITER 使用液态金属边界条件算法进行了增强,允许等离子体分析与包括液态金属 PFC 中热对流的二维分析板坯流模型直接双向耦合。这种耦合分析得出的目标热通量被用作详细三维计算流体动力学(CFD)磁水动力学(MHD)和传热分析的边界条件。数值程序中引入了新的 MHD 方程,以确保离散方程的电流守恒。三维分析结果用于耦合模型的最终验证。将研究一种 PFC 设计,其中多孔壁用于稳定液态金属表面,而 MHD 驱动则用于推动 PFC 内部的液态金属流。
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引用次数: 0
Design and position analysis of 2PUU-2PSS parallel mechanism for auxiliary assembly in DEMO vacuum vessel 用于 DEMO 真空容器辅助组件的 2PUU-2PSS 并联机构的设计和位置分析
IF 1.9 3区 工程技术 Q1 NUCLEAR SCIENCE & TECHNOLOGY Pub Date : 2024-09-03 DOI: 10.1016/j.fusengdes.2024.114645
Shikun Wen , Shutao Wu , Qian Qi , Huapeng Wu , Yang Yang , Yong Cheng , Aihong Ji

This study proposes a 2PUU-2PSS parallel mechanism (PM) designed to meet the high-precision assembly requirements of the DEMO vacuum vessel. The mechanism, featuring four degrees of freedom (3T1R), is capable of moving to the working area with the assistance of a conveying device to perform high-precision cutting and welding operations on the inner walls of the vacuum vessel. Firstly, the number and characteristics of the mechanism's degrees of freedom are analyzed based on screw theory, where the correctness of the design is verified. Secondly, with the constraint of the mechanism's rod length, the forward and inverse kinematics equations are established. The forward kinematics equations are then transformed into unconstrained optimization equations, and a differential evolution algorithm is employed for solving. Furthermore, to enhance the optimization efficiency and robustness of the differential evolution algorithm, a mean-based dual mutation strategy and an individual selection strategy are proposed and integrated into the traditional differential evolution algorithm, forming a Mean-based Dual Mutation Differential Evolution (MDDE) algorithm with strong global search capabilities and convergence rates. To assess the performance of the MDDE algorithm, numerical experiments are conducted using two CEC Benchmarks functions and two mechanical examples. The experimental results demonstrate that the MDDE algorithm consistently outperforms the compared algorithms. Finally, numerical examples are provided to demonstrate the application of the MDDE algorithm in obtaining the forward kinematics solution, including the single-point position and orientation and continuous trajectory, for the 2PUU-2PSS PM, where the correctness of the forward kinematics solution is verified through the application of the inverse kinematics.

本研究提出了一种 2PUU-2PSS 并联机构(PM),旨在满足 DEMO 真空容器的高精度装配要求。该机构具有四个自由度(3T1R),能够在输送装置的辅助下移动到工作区,对真空容器的内壁进行高精度切割和焊接操作。首先,根据螺杆理论分析了机构自由度的数量和特征,验证了设计的正确性。其次,在机构杆长度的约束下,建立了正向和逆向运动学方程。然后将正向运动学方程转化为无约束优化方程,并采用微分进化算法进行求解。此外,为了提高微分进化算法的优化效率和鲁棒性,提出了基于均值的双突变策略和个体选择策略,并将其集成到传统的微分进化算法中,形成了具有较强全局搜索能力和收敛速度的基于均值的双突变微分进化算法(MDE)。为了评估 MDDE 算法的性能,我们使用两个 CEC 基准函数和两个机械示例进行了数值实验。实验结果表明,MDDE 算法的性能始终优于同类算法。最后,还提供了数值示例,演示如何应用 MDDE 算法获得 2PUU-2PSS PM 的正向运动学解,包括单点位置和方向以及连续轨迹,并通过应用逆运动学验证正向运动学解的正确性。
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引用次数: 0
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Fusion Engineering and Design
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