Abstract
In the ITER or the future DEMO reactor systems, due to the neutron activation, the remote handling tasks such as inspection, repair and/or maintenance of in-vessel and ex-vessel components must be carried out using a wide variety of special tailored automatic manipulators. These manipulators can be designed as a pure serial articulated arm or a pure parallel mechanism, but for the sophisticated remote handling tasks requiring large workspace and high payload/weight ratio, it would be designed as a hybrid structure combined by these two mechanisms. The complex structure to obtain special remote operation makes the maintenance very time-consuming. To obtain the forward and/or the inverse kinematics of these manipulators, a global optimization method combined by differential evolution (DE) and modified particle swarm optimization (MPSO), here we call it as DEMPSO, is developed to save solution time. The general case studies focus on serial, parallel manipulators and the 10-DOF hybrid redundant serial-parallel robot designed for ITER vacuum vessel remote maintenance. The results would be extrapolated to solve the kinematic problems of the ITER or the future DEMO remote handling manipulators. The proposed optimization algorithm can also be used for the static and/or dynamic parameter identification in robot calibration systems.
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