Abstract
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.
Published Version
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