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Measurement and Control System for ITER Remote Maintenance Equipment
Kiyoshi Oka, Satoshi Kakudate, Nobukazu Takeda, Yuji Takiguchi and Kentaro Akou
Naka Fusion Research Establishment, Japan Atomic Energy Research Institute, 2-4 Shirakata-shirane, Tokai-mura, Naka-gun, Ibaraki 319-1159, Japan
Received:March 9, 1998Accepted:April 18, 1998Published:April 20, 1998
Keywords:Manipulator, Remote operation, Simulator, Open system architecture, ITER
Abstract
ITER in-vessel components such as blankets and divertors are categorized as scheduled maintenance components because they are subjected to severe plasma heat and particle loads. Blanket maintenance requires remote handling equipment and tools able to handle Heavy payloads of about 4 tons within a 2mm precision tolerance. divertor maintenance requires remote replacement of 60 cassettes with a dead weight of about 25 tons each. In the ITER R&D program, full-scale remote handling equipment for blanket and divertor maintenance has been designed and assembled for demonstration tests. This paper reviews the measurement and control system developed for full-scale remote handling equipment, the Japan Home Team contribution.
Cite this article as:K. Oka, S. Kakudate, N. Takeda, Y. Takiguchi, and K. Akou, “Measurement and Control System for ITER Remote Maintenance Equipment,” J. Robot. Mechatron., Vol.10 No.2, pp. 139-145, 1998.Data files:
