Simulating and visualizing deflections of a remote handling mechanism

Hannu Saarinen (Corresponding Author), Vesa Hämäläinen, Jaakko Karjalainen, Timo Määttä, Mikko Siuko, Salvador Esqué, David Hamilton

    Research output: Contribution to journalArticleScientificpeer-review

    4 Citations (Scopus)


    Continuing ITER divertor second cassette (SC) remote handling (RH) test campaign has been carried out at divertor test platform (DTP2) in Finland. One of the goals has been to develop and implement efficient algorithms and software tools for simulating and visualizing for the operator the non-instrumented deflections of the RH mechanisms under loading conditions. Based on assumptions of the classical beam theory, the presented solution suggests utilization of an infinitesimal transformation to represent elastic deflections in a mechanical structure. Both structural analysis and measurements of the real structure are utilised during the process. The solution suggests one possible implementation strategy of a software component called structural simulator (SS), which is a software component of the remote handling control system (RHCS) architectural model specified by ITER organisation. Utilisation of the proposed SS necessitates modification of the initial virtual reality (VR) model of RH equipment to a format, which can visually represent the structural deflections. In practise this means adding virtual joints into the model. This will improve the accuracy of the VR visualization and will ensure that the virtual representation of the RH equipment closely aligns with the actual RH equipment. Cassette multifunctional mover (CMM) and second cassette end effector (SCEE) carrying SC were selected to be the initial target system for developing the approach. Demonstrations proved that the approach used can give high levels of accuracy even in complex structures such as the CMM/SCEE: initial VR model accuracy of the CMM/SCEE carrying 9 ton cassette improved from 80 to 5 mm. Also, the deflection model is capable of adapting to changes in load at the end-effector: during the release/lift of the divertor 2nd cassette to/from the divertor rails the accuracy remains within 5 mm. The algorithms and approach described are generic and can be adopted for other mechanisms.
    Original languageEnglish
    Pages (from-to)2025-2028
    JournalFusion Engineering and Design
    Issue number9-10
    Publication statusPublished - 2013
    MoE publication typeA1 Journal article-refereed
    Event27th Symposium On Fusion Technology - Liège, Belgium
    Duration: 24 Sept 201228 Sept 2012


    • accuracy
    • cassette multifunctional mover
    • remote handling
    • structural simulator
    • virtual reality


    Dive into the research topics of 'Simulating and visualizing deflections of a remote handling mechanism'. Together they form a unique fingerprint.

    Cite this