| The environment inside the fusion reactor has strong radiation,high pollution and high toxicity,so it is necessary to use remote handling technology to replace human to complete the maintenance work.Remote handling system has developed into an essential subsystem of the future fusion reactor.For the CFETR(China Fusion Engineering Test Reactor)of the future fusion reactor,the blanket maintenance scheme adopts the overall maintenance design,which requires the upper lifting mechanism and the lower multi-functional transport platform to jointly complete the blanket transport.Prior to transport,the bottom of the blanket is connected to the vacuum vessel support through the locking pin,so a multi-functional maintenance manipulator system for the removal of the locking pin at the bottom of the blanket needs to be developedIn CFETR,the maintenance tasks of the package module were completed by the teleoperation technology.A 3-DOF robot maintenance actuator was designed to remove fasteners(locking shaft pins)at the bottom of the cladding.In this paper,the motion characteristics of the 3DOF robot were analyzed by combining the theoretical research and simulation analysis.(1)Structure design of the 3-DOF robot and actuatorIn this paper,the scissor lifting mechanism was used as the foundation of the 3-DOF robot The existing designs were analyzed and the advantages and disadvantages of different designs were compared,and the design scheme of electric scissor lifting mechanism was put forward.Due to the small space inside the cladding,the design of the 3-DOF robot needed to be optimized to avoid unpredictable damage to the equipment.Because of the particularity of the disassembly task of cladding module,the actuator disassembly head had the function of removing the locking state of fasteners to meet the disassembly requirements,the components of the actuator and the main parts of the actuator structural were determined and designed.(2)Analysis of scissor lifting mechanismIn this paper,the scissor lifting mechanism was the main part of the 3-DOF robot In order to ensure the stability of the lifting mechanism,the scissor lifting mechanism was analyzed through statics,kinematics and dynamics.Based on the principle of virtual displacement,the thrust required for lifting was calculated theoretically and the main factors affecting the thrust were obtained The coordinate system of scission mechanism was constructed,and the forward and inverse kinematics analysis was carried out The corresponding displacement,velocity and acceleration were obtained,which provided theoretical support for simulation.The dynamic analysis of scissor lifting mechanism was carried out by using ADAMS software to simulate the lifting process under actual working conditions to ensure its stability.The static analysis of the dangerous working conditions of the shear fork mechanism was carried out to ensure its stability.(3)Static strength analysis of the actuatorThe main work of actuators was the disassembly of cladding fasteners.Due to the extensive torque in the working process,the shaft would be damaged.order to ensure the actuators not to be destroyed,the ANSYS Workbench software was used to check the strength of actuators unscrew axis,to ensure the spline shaft would not be destroyed by the excessive torque and deformation in the working process and had no effect on the actuator removal task.(4)The Modal analysis of key parts of scissor lifting mechanismIn order to avoid the external excitation and scissor lifting mechanism resonance phenomenon,the modal analysis of key parts ofs cissor lifting mechanism and the first six natural frequency modes was carried out to protect the safety of lifting mechanism and ensure the smooth maintenance work.In this paper,a 3-Dofrobot and its actuator were designed for CFETR envelope maintenance.And the kinematics,dynamics and statics of the robot were analyzed. |
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