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

doi:10.1016/j.fusengdes.2016.02.005

	Conceptual design main progress of EAST Articulated Maintenance Arm (EAMA) system
Department	固体润滑国家重点实验室
	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; Wang, Kun1 ; Pan, Hongtao 1
	2016
Source Publication	Fusion Engineering and Design
ISSN	0920-3796
Volume	104 Pages:40-45
Abstract	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.
Keyword	Articulated Maintenance Arm Eama Robot Kinematics Remote Handling
Subject Area	材料科学与物理化学
DOI	10.1016/j.fusengdes.2016.02.005
Funding Organization	the National “973” Program of China (Chinese ITER Special Support Project, No. 2014GB101000).
Indexed By	SCI
If	1.319
Language	英语
Funding Project	辐照环境下润滑与防护材料组
compositor	第四作者单位
Citation statistics	Cited Times:35[WOS] [WOS Record] [Related Records in WOS]
Document Type	期刊论文
Identifier	http://ir.licp.cn/handle/362003/19985
Collection	固体润滑国家重点实验室（LSL）
Corresponding Author	Shi, Shanshuang
Affiliation	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
Recommended Citation 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.

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