Research and development of remote maintenance equipment for ITER divertor maintenance

Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka

JAERI-Tech 2004-071, 85 Pages, 2005/02

JAERI-Tech-2004-071.pdf:4.81MB

To facilitate easy maintainability, the ITER divertor is divided into 60 cassettes, which are transported for replacement using the remote equipments. The cassette of 25 tons has to be transported and installed with a positioning accuracy less than 2 mm in the limited space under the intense gamma radiation field. Based on these requirements, the following design and tests were performed. (1) Link mechanism was studied to apply to the transportation. A compact mechanism with links is designed through the optimization of the link angle taking account of space requirement and force efficiency. The lifting capacity of 30 tons has been demonstrated. (2) Compact link mechanism was also studied to apply for locking of the cassette. The final positioning accuracy of 0.03 mm for installation from the initial positioning error of 5 mm has been demonstrated. (3) Sensor-based control of the remote equipment was tested using simple sensors. It is found that the positioning accuracy of 0.16 mm has been achieved and this value is sufficient.

Performance test of divertor cassette transporters for ITER

Takeda, Nobukazu; *; *; Oka, Kiyoshi; Kakudate, Satoshi; Tada, Eisuke; E.Martin*; C.Damiani*; G.Cerdan*

Fusion Technology 1998, 2, p.1099 - 1102, 1998/00

no abstracts in English

Development of divertor remote maintenance system

Takeda, Nobukazu; Oka, Kiyoshi; *; *

J. Robot. Mechatron., 10(2), p.88 - 95, 1998/00

https://doi.org/10.20965/jrm.1998.p0088

no abstracts in English

Development of in-vessel remote maintenance system

Kakudate, Satoshi; *; Nakahira, Masataka; Takeda, Nobukazu; Adachi, Junichi*; Matsumoto, Yasuhiro*

Purazuma, Kaku Yugo Gakkai-Shi, 73(1), p.29 - 41, 1997/01

https://ci.nii.ac.jp/naid/110003827425

no abstracts in English

Mockup test of rail-mounted vehicle type maintenance system for fusion experimental reactor

Kakudate, Satoshi; Tada, Eisuke; Oka, Kiyoshi; *; *; ; Obara, Kenjiro; *; Shibanuma, Kiyoshi; Seki, Masahiro

Fusion Technology 1994, Vol.2, 0, p.1411 - 1414, 1995/00

no abstracts in English