A1 Journal article (refereed), original research

Dynamic analysis and control of a Fusion Reactor Vacuum Vessel Assembly Robot

Open Access publication

Publication Details
Authors: Moradkhani Shayan, Shabbouei Hagh Yashar, Wu Huapeng, Handroos Heikki
Publisher: Elsevier
Publication year: 2020
Language: English
Related Journal or Series Information: Fusion Engineering and Design
Volume number: 154
ISSN: 0920-3796
eISSN: 1873-7196
JUFO-Level of this publication: 1
Open Access: Open Access publication
Location of the parallel saved publication: http://urn.fi/URN:NBN:fi-fe202003249095


The assembly of vacuum vessel (VV) is a vital task for the fusion reactor. This paper introduces simulation of a parallel robot built up for the assembly of fusion reactor CFETR (Chinese Fusion Engineering Test Reactor) to carry out welding of adjacent VV sectors using splice plates, and machining in case some sectors need to be replaced for repair. The kinematics and dynamics equations of the robot are obtained, and a non-singular terminal sliding mode controller is designed which overcomes the drawbacks of the conventional linear sliding mode control. The stability of the system is verified using the Lyapunov stability criteria. The proposed method is tested by defining a trajectory for the robot’s end-effector and simulating the multi-body model of the robot.

Last updated on 2020-24-03 at 10:47