Nuclear Engineering and Technology

Korean Nuclear Society (한국원자력학회)
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Research on accurate morphology predictive control of CFETR multi-purpose overload robot

  • Congju Zuo (Department of Information Engineering, Army Academy of Artillery and Air Defense) ;
  • Yong Cheng (Institute of Plasma Physics, Chinese Academy of Science) ;
  • Hongtao Pan (Institute of Plasma Physics, Chinese Academy of Science) ;
  • Guodong Qin (Institute of Plasma Physics, Chinese Academy of Science) ;
  • Pucheng Zhou (Department of Information Engineering, Army Academy of Artillery and Air Defense) ;
  • Liang Xia (Department of Information Engineering, Army Academy of Artillery and Air Defense) ;
  • Huan Wang (Department of Information Engineering, Army Academy of Artillery and Air Defense) ;
  • Ruijuan Zhao (Department of Information Engineering, Army Academy of Artillery and Air Defense) ;
  • Yongqiang Lv (Department of Information Engineering, Army Academy of Artillery and Air Defense) ;
  • Xiaoyan Qin (Department of Information Engineering, Army Academy of Artillery and Air Defense) ;
  • Weihua Wang (Institute of Plasma Physics, Chinese Academy of Science) ;
  • Qingxi Yang (Institute of Plasma Physics, Chinese Academy of Science)
  • Received : 2023.12.02
  • Accepted : 2024.06.02
  • Published : 2024.10.25
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Abstract

The CFETR multipurpose overload robot (CMOR) is a critical component of the fusion reactor remote handling system. To accurately calculate and visualize the structural deformation and stress characteristics of the CMOR motion process, this paper first establishes a CMOR kinematic model to analyze the unfolding and working process in the vacuum chamber. Then, the dynamic model of CMOR is established using the Lagrangian method, and the rigid-flexible coupling modeling of CMOR links and joints is achieved using the finite element method and the linear spring damping equivalent model. The co-simulation results of the CMOR rigid-flexible coupled model show that when the end load is 2000 kg, the extreme value of the end-effector position error is more than 0.12 m, and the maximum stress value is 1.85 × 108 Pa. To utilize the stress-strain data of CMOR, this paper designs a CMOR morphology prediction control system based on Unity software. Implanting CMOR finite element analysis data into the Unity environment, researchers can monitor the stress strain generated by different motion trajectories of the CMOR robotic arm in the control system. It provides a platform for subsequent research on CMOR error compensation and extreme operation warnings.

Keywords

Acknowledgement

This work is supported by the National Natural Science Foundation of China (Grant Nos. 12305251, PFXY230101018) the Postdoctoral Fellowship Program of CPSF (Grant Nos. GZB20230770), and the Comprehensive Research Facility for Fusion Technology Program of China (Grant Nos. 2018-000052-73-01-001228).

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