Development of a long reach articulated manipulator for ITER in vessel inspection under vacuum and temperature

Conceptual design of EAST flexible in-vessel inspection system

“…A long reach multilink carrier is characterized by its larger work space and reduced mass. Unfortunately, increasing the number of joints with reduction of mass increases significantly structural compliance [5]. When considering the size of EAST, operational range requirement, and the potential to be developed to a components exchange remote maintenance system when necessary, a pair of robotic systems penetrating the EAST chamber through two symmetrical equatorial ports was selected.…”

Towards operations on Tore Supra of an ITER relevant inspection robot and associated processes

“…Each module includes pitch (±45 • ) and yaw (±90 • ) joints linked with a parallelogram structure (four bar mechanism) that keep yaw . Its weight is about 120 kg [3,4].…”

R&D issues to reach operational level for ITER divertor remote handling equipments

“…provide RH advanced features for plants during operations [13]; provide RH systems for exceptional maintenance [1][2][3]7,8]; provide RH Means for decommissioning phases [11]. To drive the R&D programme COGEMA followed a three steps scheme to best fit to the various requirements which stands for:…”