Abstract
The abstract relates to work undertaken on the Two Port Mover (TPM) Remote Maintenance (RM) concept in European DEMO. The focus of the study was to assess the operational procedures for installing the Blanket Leg Unit and Lower Port Winch of the Two-Port Mover. In addition, alternative means for constraining the rotations of the breeding blanket during the removal and installation process of blankets were studied.
The Two-Port Mover was tested in a dynamic simulation. The assessment process was carried out by using a Unity game-engine in a combination of AGX Dynamics for Unity plugin. The scope was to utilize virtual prototyping to visualize how the cabling of the studied Lower Port winch approach would interact within the Vacuum Vessel sector. Dynamic physics enables the cabling and the interface plate to collide with the surrounding environment and proper adjustments to the performed procedures can be validated already in the early stages of the design process. The final connection with the interface plate and the winches is performed by a remotely operated manipulator in a virtual environment. In the context of this simulation, the manipulator was controlled with a haptic device. This ensured precise control of the connection process, but also demonstrated how the cables would interact while operating the manipulator. Thus, influencing initial TPM design maturity.
The Two-Port Mover was tested in a dynamic simulation. The assessment process was carried out by using a Unity game-engine in a combination of AGX Dynamics for Unity plugin. The scope was to utilize virtual prototyping to visualize how the cabling of the studied Lower Port winch approach would interact within the Vacuum Vessel sector. Dynamic physics enables the cabling and the interface plate to collide with the surrounding environment and proper adjustments to the performed procedures can be validated already in the early stages of the design process. The final connection with the interface plate and the winches is performed by a remotely operated manipulator in a virtual environment. In the context of this simulation, the manipulator was controlled with a haptic device. This ensured precise control of the connection process, but also demonstrated how the cables would interact while operating the manipulator. Thus, influencing initial TPM design maturity.
| Original language | English |
|---|---|
| Article number | 114989 |
| Journal | Fusion Engineering and Design |
| Volume | 215 |
| DOIs | |
| Publication status | Published - Jun 2025 |
| MoE publication type | A1 Journal article-refereed |
Funding
This work has been carried out within the framework of the EUROfusion Consortium, funded by the European Union via the Euratom Research and Training Programme (Grant Agreement No 101052200 — EUROfusion).
Keywords
- Simulation
- Haptics
- Blanket handling
- Remote maintenance equipment
- Design process
- DEMO
