Conceptual design main progress of EAST Articulated Maintenance Arm (EAMA) system

CORC > 兰州化学物理研究所 > 中国科学院兰州化学物理研究所 > 固体润滑国家重点实验室

	Conceptual design main progress of EAST Articulated Maintenance Arm (EAMA) system
	Shi, Shanshuang 1,3; Song, Yuntao 1; Cheng, Yong 1; Villedieu, Eric 2; Bruno, Vincent 2; Feng, Hansheng 1; Wu, Huapeng 3; Wang P(王鹏)4 ; Hao, Zhiwei 1; Li, Yang 1
刊名	Fusion Engineering and Design
	2016
卷号	104 页码:40-45
关键词	Articulated maintenance arm EAMA robot Kinematics Remote handling
ISSN号	0920-3796
通讯作者	Shi, Shanshuang
英文摘要	EAST articulated maintenance arm (EAMA) system is being collaboratively developed by ASIPP and CEA-IRFM for the purpose of remote inspection and simple maintenance operations in EAST vacuum vessel during physical experiments without breaking the ultra-high vacuum condition. The EAMA system design is based on a similar articulated inspection arm robot successfully demonstrated in Tore Supra in 2008. In order to better meet EAST configurations and maintenance requirements, optimized mechanisms and dimensions are considered for EAMA robot as upgrades. Besides, the segmented arm is equipped with a 3-DOF wrist end effector and gripper for gripping operation as well as inspection. Some calculations and simulations on statics, kinematics and workspace of EAMA have been presented to validate the feasibility. This paper introduces the overall design of the EAMA robot and presents implementation progress.
学科主题	材料科学与物理化学
收录类别	SCI
资助信息	the National “973” Program of China (Chinese ITER Special Support Project, No. 2014GB101000).
语种	英语
WOS记录号	WOS:000372675100006
内容类型	期刊论文
源URL	[http://210.77.64.217/handle/362003/19985]
专题	兰州化学物理研究所_固体润滑国家重点实验室
作者单位	1.Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China 2.CEA, IRFM, F-13108 St Paul Les Durance, France 3.Lappeenranta Univ Technol, Lab Intelligent Machines, Lappeenranta, Finland 4.Chinese Acad Sci, Lanzhou Inst Chem Phys, State Key Lab Solid Lubricat, Lanzhou 730000, Peoples R China
推荐引用方式 GB/T 7714	Shi, Shanshuang,Song, Yuntao,Cheng, Yong,et al. Conceptual design main progress of EAST Articulated Maintenance Arm (EAMA) system[J]. Fusion Engineering and Design,2016,104:40-45.
APA	Shi, Shanshuang.,Song, Yuntao.,Cheng, Yong.,Villedieu, Eric.,Bruno, Vincent.,...&Pan, Hongtao.(2016).Conceptual design main progress of EAST Articulated Maintenance Arm (EAMA) system.Fusion Engineering and Design,104,40-45.
MLA	Shi, Shanshuang,et al."Conceptual design main progress of EAST Articulated Maintenance Arm (EAMA) system".Fusion Engineering and Design 104(2016):40-45.