Design and analysis of robot for the maintenance of divertor in DEMO fusion reactor
Li, Changyang (2017)
Julkaisun pysyvä osoite on
http://urn.fi/URN:NBN:fi-fe201801091171
http://urn.fi/URN:NBN:fi-fe201801091171
Tiivistelmä
This thesis aims to design divertor cassette remote handling end-effector, then comparison between these concepts and other existed concepts are carried out. The concepts are modelled and analyzed by using modeling software and finite element analysis software.
In mechanical design phase, main components in each concept are selected or designed, such as bearings and rails. The mechanism of the concepts is introduced also. Two concepts are cantilever structures, however, the third concept is simple supported beam structure, which provides more stiffness. Furthermore, two cantilever structures adopt 4-UPU parallel manipulator to eliminate the clearance between the inner and outer blankets, while another concept simply uses hydraulic jacks to achieve this goal. In analysis phase, finite element method is used to test the structure until the calculated results satisfy the requirements. Equivalent stress and total deformation are calculated to compare different concepts stability.
Finally, the advantages of each concepts are analyzed as well as the future improvements of each concepts are pointed out.
In mechanical design phase, main components in each concept are selected or designed, such as bearings and rails. The mechanism of the concepts is introduced also. Two concepts are cantilever structures, however, the third concept is simple supported beam structure, which provides more stiffness. Furthermore, two cantilever structures adopt 4-UPU parallel manipulator to eliminate the clearance between the inner and outer blankets, while another concept simply uses hydraulic jacks to achieve this goal. In analysis phase, finite element method is used to test the structure until the calculated results satisfy the requirements. Equivalent stress and total deformation are calculated to compare different concepts stability.
Finally, the advantages of each concepts are analyzed as well as the future improvements of each concepts are pointed out.