托卡马克腔内窥臂自铺轨道式大臂设计与分析  

Design and Analysis of Self-spreading Big Arm for Tokamak In-vessel Inspection

作　　者：杜亮[1] 张伟军[1] 袁建军[1] 毛子明[1] 

机构地区：[1]上海交通大学机器人研究所,上海200240

出　　处：《机电一体化》2015年第3期48-51 72,72,共5页Mechatronics

基　　金：国际热核聚变实验堆(ITER)计划专项(国内研究)(编号2011GB102001);国家自然科学基金资助项目(编号51175324;51275286)

摘　　要：介绍了应用于环形托卡马克腔第一壁维护的内窥机器人的结构形式,对其中自铺轨道式大臂的功能以及结构特点做了详细阐述。该大臂由3节铝合金套筒嵌套组成,套筒间布置聚四氟乙烯夹层以解决高温真空环境下的接触润滑难题。通过有限元仿真分析确定了润滑夹层中对大臂刚度性能的影响因素,就此提出了改善大臂整体刚度的方案。Introduced the structure of an in-vessel inspection manipulator which is used in Tokamak first wall maintenance,and discussed the special function and feature of its self-spreading big arm specifically. The big arm is made up from three aluminum tubes,with PTFE interlayers between tubes for lubrication under high temperature and high vacuum environment. Finite element analysis on big arm model is conducted to determine key elements of PTFE interlayer which affects its stiffness,then a proposal is made to improve the performance of big arm based on its results.

关 键 词：托卡马克 自铺轨道 真空 润滑 

分 类 号：TL631.24[核科学技术—核技术及应用]