Table 1 - uploaded by Manuel Ferre
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Source publication
This work assesses the use of a modular robot system to perform maintenance and inspection tasks such as, remote flexible inspection, manipulation and cooperation with deployed systems inside the hot cell. A flexible modular solution for the inclusion in maintenance operations is presented. The proposed heterogeneous modular robotic system is evalu...
Citations
... Gargiulo et al. [3] had manufactured an inspection robot called articulated inspection arm (AIA) and realized a complete deployment into Tore Supra and the first closed inspection of the vessel under UHV conditions. In addition, Pagala et al. [4] used a modular robot system to perform maintenance and inspection tasks inside the hot cell. And Maruyama et al. [5] designed a system called the ITER blanket remote-handling system for regular maintenance of the International Thermonuclear Experimental Reactor (ITER). ...
... Recently several works reported the use of RH robots in vacuum vessels. Pagala et al. [5] illustrated the use of modular robot system for maintenance and inspection tasks inside the hot cell. Maruyama et al. [6] employed a vision-based robotic system for remote handling task in the blanket module of ITER with two cameras. ...
This paper presents design issues of parallel-jaw gripper mechanism for maintenance of first wall armor protection tiles of fusion reactor vessel in tile-screwing tasks. The mechanism of wrist provides compactness and high torque capacity in gripping. The wrist has pitch and roll as two degrees of freedom. The holding task is guided by using a bell-crank lever-slider mechanism operated with a low-torque rating motor providing sliding motion to fingers. The gripper is considered as a class of unknown nonlinear discrete-time system. The gripper mechanism is implemented for unscrewing a square headed screw on the wall-tiles of a fusion reactor vessel. Various stages of this handling task are explained in detail with theoretical modeling.
