Abstract
This study focuses on the engineering design and testing of the rotary joints' driving systems for the China Fusion Engineering Test Reactor (CFETR) Multi-Purpose Overload Robot (CMOR). CMOR is a critical component in the CFETR. The CFETR tokamak serves as an engineering test reactor in China for magnet confinement fusion research. CMOR, a 7-DOF manipulator, is specifically designed for internal maintenance within the CFETR. This poses significant challenges in the design of the joint driving systems. The joint types of CMOR are categorized into three, comprising one translation joint, two swing joints, and four rotary joints. Using rotary joint J6 of CMOR as an example, this paper provides a detailed exploration of the engineering design and testing of the rotary joints' driving systems, offering a comprehensive explanation of their design specifications and principles. Specification and strength assessments are conducted on the engineering design results, meeting all requirements. Furthermore, the paper delves into the testing methods of the driving systems, including the assessment of transmission error and backlash error, two crucial indicators for the driving system. This research contributes valuable insights for future joint designs and testing of the CMOR heavy-load manipulator.
Published Version
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