Просмотр новости
Найдите то, что Вас интересует
Спутники
РН
SpaceX
Роскосмос
NASA
СпутникиРНSpaceXРоскосмосNASATo address the technical challenges of maintaining heavy-duty components in the confined spaces of a tokamak vacuum vessel, this paper proposes an innovative joint design method for heavy-duty manipulator. Focusing on the J5 pitch joint of the China Fusion Engineering Test Reactor (CFETR) multifunctional overload robot (CMOR), this study tackles key issues including high-precision transmission under heavy loads, structural reliability under extreme conditions, and intelligent monitoring. A split-type shell design made of TC4 titanium alloy, combined with finite element analysis, confirms that material strength meets failure criteria under both standard conditions and SL-1 seismic loads. A four-stage reduction transmission system achieves a high reduction ratio of 12,587.67, ensuring an output torque of 120 kNm while maintaining a positioning accuracy of ±0.1°. Additionally, an integrated dual-mode photoelectric switch-encoder monitoring system enables real-time joint angle monitoring and safety limit control. The findings provide critical technical support for the efficient and safe maintenance of tokamak devices and serve as an important engineering reference for the development of intelligent maintenance equipment in next-generation fusion facilities.
To address the technical challenges of maintaining heavy-duty components in the confined spaces of a tokamak vacuum vessel, this paper proposes an innovative joint design method for heavy-duty manipulator. Focusing on the J5 pitch joint of the China Fusion Engineering Test Reactor (CFETR) multifunctional overload robot (CMOR), this study tackles key issues including high-precision transmission under heavy loads, structural reliability under extreme conditions, and intelligent monitoring. A split-type shell design made of TC4 titanium alloy, combined with finite element analysis, confirms that material strength meets failure criteria under both standard conditions and SL-1 seismic loads. A four-stage reduction transmission system achieves a high reduction ratio of 12,587.67, ensuring an output torque of 120 kNm while maintaining a positioning accuracy of ±0.1°. Additionally, an integrated dual-mode photoelectric switch-encoder monitoring system enables real-time joint angle monitoring and safety limit control. The findings provide critical technical support for the efficient and safe maintenance of tokamak devices and serve as an important engineering reference for the development of intelligent maintenance equipment in next-generation fusion facilities.
Song, Y.T., et al.: Concept design of CFETR tokamak machine. IEEE Trans. Plasma Sci. 42, 503–509 (2014)
Yao, Z., et al.: On-line precision control of CFETR multipurpose overload robot using deformation model. Fusion Eng. Des. 174, 112967 (2022)
Song, Y., et al.: Engineering design of the CFETR machine. Fusion Eng. Des. 183, 113247 (2022)
Song, Y., et al.: Concept design on RH maintenance of CFETR tokamak reactor. Fusion Eng. Des. 89, 2331–2335 (2014)
Cheng, Y., et al.: Overview of the CFETR remote handling system and the development progress. Fusion Eng. Des. 177, 113060 (2022)
Zhao, F., et al.: Solving redundant inverse kinematics of CMOR based on chaos-driven particle swarm optimization algorithm. Fusion Eng. Des. 192, 113712 (2023)
Huang, H., et al.: Engineering design and testing of rotary joints’ driving systems for the CFETR multi-purpose overload robot. Fusion Eng. Des. 201, 114298 (2024)
Huang, H., et al.: Engineering design and analysis of the root joints for the CFETR multi-purpose overload robot. Fusion Eng. Des. 205, 114557 (2024)
Liu, C., Yang, C., Zhao, Y., Luo, J., Chen, X.: Dynamic modeling and analysis of high-speed flexible planetary gear transmission systems. Alex. Eng. J. 80, 444–464 (2023)
Tan, J.J., et al.: Dynamic modeling and analysis of planetary gear train system considering structural flexibility and dynamic multi-teeth mesh process. Mech. Mach. Theory. 186, 105348 (2023)
Huazhong University of Science and Technology, Wuhan, 430074, China
Hongbin Huang, Haoyin Wang & Youmin Hu
Authors
Correspondence to Youmin Hu.
School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China
Jianrong Tan
School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China
Zhenyu Liu
Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China
Weifei Hu
© 2027 The Chinese Mechanical Engineering Society
Huang, H., Wang, H., Hu, Y. (2027). Joint Design and Analysis of Heavy-Duty Manipulator for Tokamak Device Maintenance. In: Tan, J., Liu, Z., Hu, W. (eds) Advances in Mechanical Design. ICMD 2025. Mechanisms and Machine Science, vol 206. Springer, Singapore. https://doi.org/10.1007/978-981-95-7904-4_80
Download citationDOI: https://doi.org/10.1007/978-981-95-7904-4_80
Published: 25 June 2026
Publisher Name: Springer, Singapore
Print ISBN: 978-981-95-7903-7
Online ISBN: 978-981-95-7904-4
eBook Packages: Mechanical Engineering (R0)Springer Nature Proceedings excluding Computer Science