Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER

Peetu Nieminen (Corresponding Author), Salvador Esque, Ali Muhammad, Jouni Mattila, Jukka Väyrynen, Mikko Siuko, Matti Vilenius

    Research output: Contribution to journalArticleScientificpeer-review

    21 Citations (Scopus)

    Abstract

    Department of Intelligent Hydraulics and Automation (IHA) of Tampere University of Technology has been involved in the European Fusion program since 1994 within the ITER reactor maintenance activities. In this paper we discuss the design and development of a six degrees of freedom water hydraulic manipulator with a force feedback for teleoperation tasks. The manipulator is planned to be delivered to Divertor Test Platform 2 (DTP2) during year 2008. The paper also discusses the possibility to improve the fail safe and redundant operation of the manipulator. During the design of the water hydraulic manipulator, special provisions have been made in order to meet the safety requirements such as servo valve block for redundant operation and safety vane brakes for fail safe operation.
    Original languageEnglish
    Pages (from-to)1420-1424
    Number of pages5
    JournalFusion Engineering and Design
    Volume84
    Issue number7-11
    DOIs
    Publication statusPublished - 2009
    MoE publication typeA1 Journal article-refereed
    Event25th Symposium on Fusion Technology, SOFT-25 - Rostock, Germany
    Duration: 15 Sep 200819 Sep 2008

    Keywords

    • WHMAN
    • Water hydraulics
    • Remote handling
    • Fail safe
    • Fault tolerant

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