Abstract
The tele-operated in-vessel inspection system is required for maintenance in nuclear fusion environment. A Multi-joint Foldable Robot (MFR) is designed for Experimental Advanced Superconducting Tokamak (EAST). The whole MFR system has been designed and implemented. The motion control experiments show that the design is reasonable and effective. The MFR system developed can be used to perform inspection task in a nuclear environment.
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Acknowledgements
This research work was supported by the China National Magnetic-Confinement Fusion Energy R&D Program (ITER) and funded by the National Science and Technology Major Project of the Ministry of Science and Technology of China (2012GB102002, No. 2012GB102007) and the National Natural Science Foundation of China (NSFC) under Grant No. 61503361. The natural science foundation of Anhui Province 1308085MF86. The authors wish to thank the research group for their great contributions to the presented research. The views and opinions expressed in this paper are the sole responsibility of the authors.
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Wu, B. et al. (2017). Structural Design of Multi-joint Foldable Robot Manipulator for Remote Inspection in Experimental Advanced Superconducting Tokamak (EAST). In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_72
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DOI: https://doi.org/10.1007/978-3-319-48036-7_72
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