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

20 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

Fingerprint

Manipulators
Hydraulics
Water
Degrees of freedom (mechanics)
Remote control
Brakes
Fusion reactions
Automation
Feedback

Keywords

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

Cite this

Nieminen, Peetu ; Esque, Salvador ; Muhammad, Ali ; Mattila, Jouni ; Väyrynen, Jukka ; Siuko, Mikko ; Vilenius, Matti. / Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER. In: Fusion Engineering and Design. 2009 ; Vol. 84, No. 7-11. pp. 1420-1424.
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Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER. / Nieminen, Peetu (Corresponding Author); Esque, Salvador; Muhammad, Ali; Mattila, Jouni; Väyrynen, Jukka; Siuko, Mikko; Vilenius, Matti.

In: Fusion Engineering and Design, Vol. 84, No. 7-11, 2009, p. 1420-1424.

Research output: Contribution to journalArticleScientificpeer-review

TY - JOUR

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AU - Nieminen, Peetu

AU - Esque, Salvador

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AU - Siuko, Mikko

AU - Vilenius, Matti

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AB - 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.

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