A method for enabling real-time structural deformation in remote handling control system by utilizing offline simulation results and 3d model morphing

Sauli Kiviranta (Corresponding Author), Hannu Saarinen, Harri Mäkinen, Boris Krassi

Research output: Contribution to journalArticle in a proceedings journalScientificpeer-review

Abstract

A full scale physical test facility, DTP2 (Divertor Test Platform 2) has been established in Finland for demonstrating and refining the Remote Handling (RH) equipment designs for ITER. The first prototype RH equipment at DTP2 is the Cassette Multifunctional Mover (CMM) equipped with Second Cassette End Effector (SCEE) delivered to DTP2 in October 2008. The purpose is to prove that CMM/SCEE prototype can be used successfully for the 2nd cassette RH operations. At the end of F4E grant "DTP2 test facility operation and upgrade preparation", the RH operations of the 2nd cassette were successfully demonstrated to the representatives of Fusion For Energy (F4E). Due its design, the CMM/SCEE robot has relatively large mechanical flexibilities when the robot carries the nine-ton-weighting 2nd Cassette on the 3.6-meter-long lever. This leads into a poor absolute accuracy and into the situation where the 3D model, which is used in the control system, does not reflect the actual deformed state of the CMM/SCEE robot. To improve the accuracy, the new method has been developed in order to handle the flexibilities within the control system's virtual environment. The effect of the load on the CMM/SCEE has been measured and minimized in the load compensation model, which is implemented in the control system software. The proposed method accounts for the structural deformations of the robot in the control system through the 3D model morphing by utilizing the finite element method (FEM) analysis for morph targets. This resulted in a considerable improvement of the CMM/SCEE absolute accuracy and the adequacy of the 3D model, which is crucially important in the RH applications, where the visual information of the controlled device in the surrounding environment is limited.
Original languageEnglish
Pages (from-to)1958-1962
JournalFusion Engineering and Design
Volume86
Issue number9-11
DOIs
Publication statusPublished - Oct 2011
MoE publication typeA4 Article in a conference publication
Event26th Symposium of Fusion Technology, SOFT-26 - Porto, Portugal
Duration: 27 Sep 20101 Oct 2010
Conference number: 26

Fingerprint

End effectors
Control systems
Robots
Test facilities
Virtual reality
Refining
Fusion reactions
Finite element method

Keywords

  • remote handling
  • Divertor Test Platform
  • Cassette Multifunctional Mover
  • DTP 2
  • 2nd cassette
  • ITER
  • flexibility
  • deformation
  • morphing
  • virtual reality
  • virtual prototyping

Cite this

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title = "A method for enabling real-time structural deformation in remote handling control system by utilizing offline simulation results and 3d model morphing",
abstract = "A full scale physical test facility, DTP2 (Divertor Test Platform 2) has been established in Finland for demonstrating and refining the Remote Handling (RH) equipment designs for ITER. The first prototype RH equipment at DTP2 is the Cassette Multifunctional Mover (CMM) equipped with Second Cassette End Effector (SCEE) delivered to DTP2 in October 2008. The purpose is to prove that CMM/SCEE prototype can be used successfully for the 2nd cassette RH operations. At the end of F4E grant {"}DTP2 test facility operation and upgrade preparation{"}, the RH operations of the 2nd cassette were successfully demonstrated to the representatives of Fusion For Energy (F4E). Due its design, the CMM/SCEE robot has relatively large mechanical flexibilities when the robot carries the nine-ton-weighting 2nd Cassette on the 3.6-meter-long lever. This leads into a poor absolute accuracy and into the situation where the 3D model, which is used in the control system, does not reflect the actual deformed state of the CMM/SCEE robot. To improve the accuracy, the new method has been developed in order to handle the flexibilities within the control system's virtual environment. The effect of the load on the CMM/SCEE has been measured and minimized in the load compensation model, which is implemented in the control system software. The proposed method accounts for the structural deformations of the robot in the control system through the 3D model morphing by utilizing the finite element method (FEM) analysis for morph targets. This resulted in a considerable improvement of the CMM/SCEE absolute accuracy and the adequacy of the 3D model, which is crucially important in the RH applications, where the visual information of the controlled device in the surrounding environment is limited.",
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A method for enabling real-time structural deformation in remote handling control system by utilizing offline simulation results and 3d model morphing. / Kiviranta, Sauli (Corresponding Author); Saarinen, Hannu; Mäkinen, Harri; Krassi, Boris.

In: Fusion Engineering and Design, Vol. 86, No. 9-11, 10.2011, p. 1958-1962.

Research output: Contribution to journalArticle in a proceedings journalScientificpeer-review

TY - JOUR

T1 - A method for enabling real-time structural deformation in remote handling control system by utilizing offline simulation results and 3d model morphing

AU - Kiviranta, Sauli

AU - Saarinen, Hannu

AU - Mäkinen, Harri

AU - Krassi, Boris

N1 - Project code: 72015

PY - 2011/10

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N2 - A full scale physical test facility, DTP2 (Divertor Test Platform 2) has been established in Finland for demonstrating and refining the Remote Handling (RH) equipment designs for ITER. The first prototype RH equipment at DTP2 is the Cassette Multifunctional Mover (CMM) equipped with Second Cassette End Effector (SCEE) delivered to DTP2 in October 2008. The purpose is to prove that CMM/SCEE prototype can be used successfully for the 2nd cassette RH operations. At the end of F4E grant "DTP2 test facility operation and upgrade preparation", the RH operations of the 2nd cassette were successfully demonstrated to the representatives of Fusion For Energy (F4E). Due its design, the CMM/SCEE robot has relatively large mechanical flexibilities when the robot carries the nine-ton-weighting 2nd Cassette on the 3.6-meter-long lever. This leads into a poor absolute accuracy and into the situation where the 3D model, which is used in the control system, does not reflect the actual deformed state of the CMM/SCEE robot. To improve the accuracy, the new method has been developed in order to handle the flexibilities within the control system's virtual environment. The effect of the load on the CMM/SCEE has been measured and minimized in the load compensation model, which is implemented in the control system software. The proposed method accounts for the structural deformations of the robot in the control system through the 3D model morphing by utilizing the finite element method (FEM) analysis for morph targets. This resulted in a considerable improvement of the CMM/SCEE absolute accuracy and the adequacy of the 3D model, which is crucially important in the RH applications, where the visual information of the controlled device in the surrounding environment is limited.

AB - A full scale physical test facility, DTP2 (Divertor Test Platform 2) has been established in Finland for demonstrating and refining the Remote Handling (RH) equipment designs for ITER. The first prototype RH equipment at DTP2 is the Cassette Multifunctional Mover (CMM) equipped with Second Cassette End Effector (SCEE) delivered to DTP2 in October 2008. The purpose is to prove that CMM/SCEE prototype can be used successfully for the 2nd cassette RH operations. At the end of F4E grant "DTP2 test facility operation and upgrade preparation", the RH operations of the 2nd cassette were successfully demonstrated to the representatives of Fusion For Energy (F4E). Due its design, the CMM/SCEE robot has relatively large mechanical flexibilities when the robot carries the nine-ton-weighting 2nd Cassette on the 3.6-meter-long lever. This leads into a poor absolute accuracy and into the situation where the 3D model, which is used in the control system, does not reflect the actual deformed state of the CMM/SCEE robot. To improve the accuracy, the new method has been developed in order to handle the flexibilities within the control system's virtual environment. The effect of the load on the CMM/SCEE has been measured and minimized in the load compensation model, which is implemented in the control system software. The proposed method accounts for the structural deformations of the robot in the control system through the 3D model morphing by utilizing the finite element method (FEM) analysis for morph targets. This resulted in a considerable improvement of the CMM/SCEE absolute accuracy and the adequacy of the 3D model, which is crucially important in the RH applications, where the visual information of the controlled device in the surrounding environment is limited.

KW - remote handling

KW - Divertor Test Platform

KW - Cassette Multifunctional Mover

KW - DTP 2

KW - 2nd cassette

KW - ITER

KW - flexibility

KW - deformation

KW - morphing

KW - virtual reality

KW - virtual prototyping

U2 - 10.1016/j.fusengdes.2010.11.015

DO - 10.1016/j.fusengdes.2010.11.015

M3 - Article in a proceedings journal

VL - 86

SP - 1958

EP - 1962

JO - Fusion Engineering and Design

JF - Fusion Engineering and Design

SN - 0920-3796

IS - 9-11

ER -