Engineering design and analysis of the root joints for the CFETR multi-purpose overload robot

• Published in: Fusion engineering and design 2024-08, Vol.205, p.114557, Article 114557
• Main Authors: Huang, Hongbin, Wang, Haoyin, Wang, Yiming, Hu, Youmin, Zhao, Fang, Zhong, Hao, Wan, Chenhui, Wu, Bo, Su, Ping, Pan, Hongtao, Cheng, Yang, Cheng, Yong
• Format: Article
• Language: English
• Subjects: CFETR; CMOR; Engineering design; Rescue module; Root joints; Strength assessment
• ISSN: 0920-3796
• DOI: 10.1016/j.fusengdes.2024.114557

•We have devised a composite gear transmission system, which comprises a RV reducer, two parallel shaft transmissions, and a planetary gear transmission.•A rescue module has been integrated into the driving system to ensure the necessary rescue operations for the manipulator.•The structural configuration of the relevant shells has been developed, with comprehensive explanation on dimensions, manufacturing methodology and strength assessment.•A detailed exposition on the internal architecture and rotational capabilities of these joints has been provided.•An effective internal cable routing scheme for the root joints has been proposed. This study concentrates on the engineering design and analysis of the root joints for the CFETR Multi-Purpose Overload Robot (CMOR), a crucial component in the China Fusion Engineering Test Reactor (CFETR). The CFETR tokamak is an engineering test reactor in China for magnet confinement fusion research. CMOR is a 7-DOF manipulator characterized by heavy-load capacity, high precision, and compact structures, designed for internal maintenance inside the CFETR. This presents significant challenges in its design. The design of the root joints is significant for the CMOR. This paper provides an in-depth exploration of the engineering design and analysis of the root joints. It offers a thorough explanation of the driving systems' design, including an integrated rescue module to address potential manipulator faults. Additionally, this paper delves into the conceptual design and manufacturing schemes of the corresponding shells, which are validated under various loading conditions—including regular and earthquake scenarios—through finite element analysis. The assembled root joints' internal structure and cable routing scheme are also discussed in-depth. This research provides valuable insights for future joint designs of the CMOR heavy load manipulator, advancing maintenance operations for fusion reactors.