Results of CMM standalone tests at DTP2

Hannu Saarinen (Corresponding Author), T. Kivelä, L. Zhai, Vesa Hämäläinen, J. Karjalainen, L. Aha, L. Heikkilä, Harri Mäkinen, Jorma Järvenpää, Sauli Kiviranta, Boris Krassi, M. Viinikainen, Mikko Siuko, J. Mattila, S. Esqué, L. Semeraro

    Research output: Contribution to journalArticleScientificpeer-review

    7 Citations (Scopus)

    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 the 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).During the grant the High Level Control (HLC) software developed at DTP2 was integrated with the CMM/SCEE hardware. The performance criteria of the CMM/SCEE equipment were defined based on the ‘EN ISO 9283 Manipulating industrial robots – Performance criteria and related test methods’ standard. Considerable improvement to the performance was achieved with the aid of compensation functions, which took into account the deflections and the compliance effects caused by the Divertor Cassette weighting 9000 kg. According to measurements the positioning error at the furthest point of the cassette was reduced from 80 mm to 5 mm.So far the 2nd cassette mock-up has been installed and removed already some tens of times. The reliability of the HLC software is sufficient to operate the CMM/SCEE all day without interruptions. Also the execution of the automatic RH processes with the overall RH system is reliable and repeatable in terms of accuracy and cycle time.These experiments provide a solid basis for investigating the RH system ability to perform fail-safe operations in various failure scenarios and to recover from them. The target of the continuing R&D is to find out a more complete set of functional and non-functional requirements for the RH system for Divertor Cassette maintenance to ensure an adequate level of requirements and procedures for ITER.
    Original languageEnglish
    Pages (from-to)1907-1910
    Number of pages4
    JournalFusion Engineering and Design
    Volume86
    Issue number9-11
    DOIs
    Publication statusPublished - 2011
    MoE publication typeA1 Journal article-refereed
    Event26th Symposium of Fusion Technology, SOFT-26 - Porto, Portugal
    Duration: 27 Sep 20101 Oct 2010
    Conference number: 26

    Fingerprint

    End effectors
    Level control
    Test facilities
    Industrial robots
    Refining
    Fusion reactions
    Hardware
    Experiments

    Keywords

    • Remote Handling
    • Cassette Multifunctional Mover
    • Divertor Test Platform
    • DTP2
    • 2nd cassette
    • ITER

    Cite this

    Saarinen, H., Kivelä, T., Zhai, L., Hämäläinen, V., Karjalainen, J., Aha, L., ... Semeraro, L. (2011). Results of CMM standalone tests at DTP2. Fusion Engineering and Design, 86(9-11), 1907-1910. https://doi.org/10.1016/j.fusengdes.2011.02.013
    Saarinen, Hannu ; Kivelä, T. ; Zhai, L. ; Hämäläinen, Vesa ; Karjalainen, J. ; Aha, L. ; Heikkilä, L. ; Mäkinen, Harri ; Järvenpää, Jorma ; Kiviranta, Sauli ; Krassi, Boris ; Viinikainen, M. ; Siuko, Mikko ; Mattila, J. ; Esqué, S. ; Semeraro, L. / Results of CMM standalone tests at DTP2. In: Fusion Engineering and Design. 2011 ; Vol. 86, No. 9-11. pp. 1907-1910.
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    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 the 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).During the grant the High Level Control (HLC) software developed at DTP2 was integrated with the CMM/SCEE hardware. The performance criteria of the CMM/SCEE equipment were defined based on the ‘EN ISO 9283 Manipulating industrial robots – Performance criteria and related test methods’ standard. Considerable improvement to the performance was achieved with the aid of compensation functions, which took into account the deflections and the compliance effects caused by the Divertor Cassette weighting 9000 kg. According to measurements the positioning error at the furthest point of the cassette was reduced from 80 mm to 5 mm.So far the 2nd cassette mock-up has been installed and removed already some tens of times. The reliability of the HLC software is sufficient to operate the CMM/SCEE all day without interruptions. Also the execution of the automatic RH processes with the overall RH system is reliable and repeatable in terms of accuracy and cycle time.These experiments provide a solid basis for investigating the RH system ability to perform fail-safe operations in various failure scenarios and to recover from them. The target of the continuing R&D is to find out a more complete set of functional and non-functional requirements for the RH system for Divertor Cassette maintenance to ensure an adequate level of requirements and procedures for ITER.",
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    Saarinen, H, Kivelä, T, Zhai, L, Hämäläinen, V, Karjalainen, J, Aha, L, Heikkilä, L, Mäkinen, H, Järvenpää, J, Kiviranta, S, Krassi, B, Viinikainen, M, Siuko, M, Mattila, J, Esqué, S & Semeraro, L 2011, 'Results of CMM standalone tests at DTP2', Fusion Engineering and Design, vol. 86, no. 9-11, pp. 1907-1910. https://doi.org/10.1016/j.fusengdes.2011.02.013

    Results of CMM standalone tests at DTP2. / Saarinen, Hannu (Corresponding Author); Kivelä, T.; Zhai, L.; Hämäläinen, Vesa; Karjalainen, J.; Aha, L.; Heikkilä, L.; Mäkinen, Harri; Järvenpää, Jorma; Kiviranta, Sauli; Krassi, Boris; Viinikainen, M.; Siuko, Mikko; Mattila, J.; Esqué, S.; Semeraro, L.

    In: Fusion Engineering and Design, Vol. 86, No. 9-11, 2011, p. 1907-1910.

    Research output: Contribution to journalArticleScientificpeer-review

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    T1 - Results of CMM standalone tests at DTP2

    AU - Saarinen, Hannu

    AU - Kivelä, T.

    AU - Zhai, L.

    AU - Hämäläinen, Vesa

    AU - Karjalainen, J.

    AU - Aha, L.

    AU - Heikkilä, L.

    AU - Mäkinen, Harri

    AU - Järvenpää, Jorma

    AU - Kiviranta, Sauli

    AU - Krassi, Boris

    AU - Viinikainen, M.

    AU - Siuko, Mikko

    AU - Mattila, J.

    AU - Esqué, S.

    AU - Semeraro, L.

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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 the 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).During the grant the High Level Control (HLC) software developed at DTP2 was integrated with the CMM/SCEE hardware. The performance criteria of the CMM/SCEE equipment were defined based on the ‘EN ISO 9283 Manipulating industrial robots – Performance criteria and related test methods’ standard. Considerable improvement to the performance was achieved with the aid of compensation functions, which took into account the deflections and the compliance effects caused by the Divertor Cassette weighting 9000 kg. According to measurements the positioning error at the furthest point of the cassette was reduced from 80 mm to 5 mm.So far the 2nd cassette mock-up has been installed and removed already some tens of times. The reliability of the HLC software is sufficient to operate the CMM/SCEE all day without interruptions. Also the execution of the automatic RH processes with the overall RH system is reliable and repeatable in terms of accuracy and cycle time.These experiments provide a solid basis for investigating the RH system ability to perform fail-safe operations in various failure scenarios and to recover from them. The target of the continuing R&D is to find out a more complete set of functional and non-functional requirements for the RH system for Divertor Cassette maintenance to ensure an adequate level of requirements and procedures for ITER.

    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 the 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).During the grant the High Level Control (HLC) software developed at DTP2 was integrated with the CMM/SCEE hardware. The performance criteria of the CMM/SCEE equipment were defined based on the ‘EN ISO 9283 Manipulating industrial robots – Performance criteria and related test methods’ standard. Considerable improvement to the performance was achieved with the aid of compensation functions, which took into account the deflections and the compliance effects caused by the Divertor Cassette weighting 9000 kg. According to measurements the positioning error at the furthest point of the cassette was reduced from 80 mm to 5 mm.So far the 2nd cassette mock-up has been installed and removed already some tens of times. The reliability of the HLC software is sufficient to operate the CMM/SCEE all day without interruptions. Also the execution of the automatic RH processes with the overall RH system is reliable and repeatable in terms of accuracy and cycle time.These experiments provide a solid basis for investigating the RH system ability to perform fail-safe operations in various failure scenarios and to recover from them. The target of the continuing R&D is to find out a more complete set of functional and non-functional requirements for the RH system for Divertor Cassette maintenance to ensure an adequate level of requirements and procedures for ITER.

    KW - Remote Handling

    KW - Cassette Multifunctional Mover

    KW - Divertor Test Platform

    KW - DTP2

    KW - 2nd cassette

    KW - ITER

    U2 - 10.1016/j.fusengdes.2011.02.013

    DO - 10.1016/j.fusengdes.2011.02.013

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    Saarinen H, Kivelä T, Zhai L, Hämäläinen V, Karjalainen J, Aha L et al. Results of CMM standalone tests at DTP2. Fusion Engineering and Design. 2011;86(9-11):1907-1910. https://doi.org/10.1016/j.fusengdes.2011.02.013