Structural Design of Multi-joint Foldable Robot Manipulator for Remote Inspection in Experimental Advanced Superconducting Tokamak (EAST)

摘要

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.