Simulating and visualizing deflections of a remote handling mechanism

Hannu Saarinen (Corresponding Author), Vesa Hämäläinen, Jaakko Karjalainen, Timo Määttä, Mikko Siuko, S. Esque, D. Hamilton

Research output: Contribution to journalArticleScientificpeer-review

4 Citations (Scopus)

Abstract

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
Number of pages4
JournalFusion Engineering and Design
Volume88
Issue number9-10
DOIs
Publication statusPublished - 2013
MoE publication typeA1 Journal article-refereed
Event27th Symposium On Fusion Technology - Liège, Belgium
Duration: 24 Sep 201228 Sep 2012

Fingerprint

End effectors
Virtual reality
Simulators
Deflection (structures)
Structural analysis
Rails
Demonstrations
Visualization
Control systems

Keywords

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

Cite this

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title = "Simulating and visualizing deflections of a remote handling mechanism",
abstract = "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.",
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Simulating and visualizing deflections of a remote handling mechanism. / Saarinen, Hannu (Corresponding Author); Hämäläinen, Vesa; Karjalainen, Jaakko; Määttä, Timo; Siuko, Mikko; Esque, S.; Hamilton, D.

In: Fusion Engineering and Design, Vol. 88, No. 9-10, 2013, p. 2025-2028.

Research output: Contribution to journalArticleScientificpeer-review

TY - JOUR

T1 - Simulating and visualizing deflections of a remote handling mechanism

AU - Saarinen, Hannu

AU - Hämäläinen, Vesa

AU - Karjalainen, Jaakko

AU - Määttä, Timo

AU - Siuko, Mikko

AU - Esque, S.

AU - Hamilton, D.

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

KW - accuracy

KW - cassette multifunctional mover

KW - remote handling

KW - structural simulator

KW - virtual reality

U2 - 10.1016/j.fusengdes.2013.02.118

DO - 10.1016/j.fusengdes.2013.02.118

M3 - Article

VL - 88

SP - 2025

EP - 2028

JO - Fusion Engineering and Design

JF - Fusion Engineering and Design

SN - 0920-3796

IS - 9-10

ER -