Optimization of the rail composed of multi-joint links for ITER blankets remote maintenance

摘要

Remote maintenance is a essential technology of the International Thermonuclear Experimental Reactor (ITER) since the in-vessel components such as blanket are scheduled to be replaced remotely. A modular type blanket structure, which is installed individually in the vacuum vessel and whose total number is about four hundred, has been adopted in the ITER design to facilitate remote maintainability. This requires the reliable remote operations to install the blanket module with a dead weight of about 4 ton within a few mm positioning accuracy in the restricted vacuum vessel space. A new concept of rail-mounted vehicle manipulator system has been developed for the maintenance and replacement of blanket modules. This paper mainly describes the test results of rail deployment based on motion pattern.