Design and analysis of heavy-duty manipulator for nuclear applications

Abstract

Advanced robotic systems are necessary for handling large and heavy components in harsh condition of fusion reactor. The Multipurpose Deployer (MPD), a robotic manipulator designed to lift and position reactor limiters weighing 6 to 20 tonnes inside the vacuum vessel, is presented in this paper along with its actuation system. High torque servo motors were selected over hydraulic systems because of their accuracy, robustness and ability to withstand radiation-induced deterioration. The MPD uses high-force linear actuators for accurate extension and retraction movements and harmonic drive gearboxes for a smooth and regulated torque transfer. The MPD offers a precise, safe, and effective way to do remote maintenance on nuclear fusion reactors by integrating high-torque motors, precision gearboxes, and sophisticated control systems in its unique and robust design.