Dynamic Simulation of Blanket Module Maintenance inside Fusion Vacuum Vessel

Abstract

The most critical issue of the blanket module remote maintenance operation is to remove or replace the heavy module with high positioning accuracy of 1mm. Located in vacuum vessel (VV) of the nuclear fusion device, the blanket module is weight up to 500kg, thus the grasp and installation of blanket module come to be the essential problem during the maintenance operation. To meet the requirement, we propose a new hierarchical control strategy of rough and fine positioning technology based on combined sensors. The detail procedures and implementation of the control scheme has been carried out successfully on Virtual Robot Experiment Platform to demonstrate the feasibility of the control strategy.