Simulating and visualizing deflections of a remote handling mechanism
► An infinitesimal transformation represents elastic deflections. ► Equivalent spring factor is used to combine several deformations. ► Initial VR model accuracy improved from 80 to 5mm. ► The deflection model is capable of adapting to changes in load at the end-effector. ► The algorithms and approa...
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| Published in: | Fusion engineering and design Vol. 88; no. 9-10; pp. 2025 - 2028 |
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| Main Authors: | , , , , , , |
| Format: | Journal Article |
| Language: | English |
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Elsevier B.V
01.10.2013
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| ISSN: | 0920-3796, 1873-7196 |
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| Abstract | ► An infinitesimal transformation represents elastic deflections. ► Equivalent spring factor is used to combine several deformations. ► Initial VR model accuracy improved from 80 to 5mm. ► The deflection model is capable of adapting to changes in load at the end-effector. ► The algorithms and approach described are generic and can be adopted for other mechanisms.
Continuing ITER divertor second cassette (SC) remote handling (RH) test campaign has been carried out at divertor test platform (DTP2) in Finland. One of the goals has been to develop and implement efficient algorithms and software tools for simulating and visualizing for the operator the non-instrumented deflections of the RH mechanisms under loading conditions.
Based on assumptions of the classical beam theory, the presented solution suggests utilization of an infinitesimal transformation to represent elastic deflections in a mechanical structure. Both structural analysis and measurements of the real structure are utilised during the process. The solution suggests one possible implementation strategy of a software component called structural simulator (SS), which is a software component of the remote handling control system (RHCS) architectural model specified by ITER organisation.
Utilisation of the proposed SS necessitates modification of the initial virtual reality (VR) model of RH equipment to a format, which can visually represent the structural deflections. In practise this means adding virtual joints into the model. This will improve the accuracy of the VR visualization and will ensure that the virtual representation of the RH equipment closely aligns with the actual RH equipment.
Cassette multifunctional mover (CMM) and second cassette end effector (SCEE) carrying SC were selected to be the initial target system for developing the approach.
Demonstrations proved that the approach used can give high levels of accuracy even in complex structures such as the CMM/SCEE: initial VR model accuracy of the CMM/SCEE carrying 9ton cassette improved from 80 to 5mm. Also, the deflection model is capable of adapting to changes in load at the end-effector: during the release/lift of the divertor 2nd cassette to/from the divertor rails the accuracy remains within 5mm.
The algorithms and approach described are generic and can be adopted for other mechanisms. |
|---|---|
| AbstractList | ► An infinitesimal transformation represents elastic deflections. ► Equivalent spring factor is used to combine several deformations. ► Initial VR model accuracy improved from 80 to 5mm. ► The deflection model is capable of adapting to changes in load at the end-effector. ► The algorithms and approach described are generic and can be adopted for other mechanisms.
Continuing ITER divertor second cassette (SC) remote handling (RH) test campaign has been carried out at divertor test platform (DTP2) in Finland. One of the goals has been to develop and implement efficient algorithms and software tools for simulating and visualizing for the operator the non-instrumented deflections of the RH mechanisms under loading conditions.
Based on assumptions of the classical beam theory, the presented solution suggests utilization of an infinitesimal transformation to represent elastic deflections in a mechanical structure. Both structural analysis and measurements of the real structure are utilised during the process. The solution suggests one possible implementation strategy of a software component called structural simulator (SS), which is a software component of the remote handling control system (RHCS) architectural model specified by ITER organisation.
Utilisation of the proposed SS necessitates modification of the initial virtual reality (VR) model of RH equipment to a format, which can visually represent the structural deflections. In practise this means adding virtual joints into the model. This will improve the accuracy of the VR visualization and will ensure that the virtual representation of the RH equipment closely aligns with the actual RH equipment.
Cassette multifunctional mover (CMM) and second cassette end effector (SCEE) carrying SC were selected to be the initial target system for developing the approach.
Demonstrations proved that the approach used can give high levels of accuracy even in complex structures such as the CMM/SCEE: initial VR model accuracy of the CMM/SCEE carrying 9ton cassette improved from 80 to 5mm. Also, the deflection model is capable of adapting to changes in load at the end-effector: during the release/lift of the divertor 2nd cassette to/from the divertor rails the accuracy remains within 5mm.
The algorithms and approach described are generic and can be adopted for other mechanisms. Continuing ITER divertor second cassette (SC) remote handling (RH) test campaign has been carried out at divertor test platform (DTP2) in Finland. One of the goals has been to develop and implement efficient algorithms and software tools for simulating and visualizing for the operator the non-instrumented deflections of the RH mechanisms under loading conditions. Continuing ITER divertor second cassette (SC) remote handling (RH) test campaign has been carried out at divertor test platform (DTP2) in Finland. One of the goals has been to develop and implement efficient algorithms and software tools for simulating and visualizing for the operator the non-instrumented deflections of the RH mechanisms under loading conditions. Based on assumptions of the classical beam theory, the presented solution suggests utilization of an infinitesimal transformation to represent elastic deflections in a mechanical structure. Both structural analysis and measurements of the real structure are utilised during the process. The solution suggests one possible implementation strategy of a software component called structural simulator (SS), which is a software component of the remote handling control system (RHCS) architectural model specified by ITER organisation. Utilisation of the proposed SS necessitates modification of the initial virtual reality (VR) model of RH equipment to a format, which can visually represent the structural deflections. In practise this means adding virtual joints into the model. This will improve the accuracy of the VR visualization and will ensure that the virtual representation of the RH equipment closely aligns with the actual RH equipment. Cassette multifunctional mover (CMM) and second cassette end effector (SCEE) carrying SC were selected to be the initial target system for developing the approach. Demonstrations proved that the approach used can give high levels of accuracy even in complex structures such as the CMM/SCEE: initial VR model accuracy of the CMM/SCEE carrying 9 ton cassette improved from 80 to 5 mm. Also, the deflection model is capable of adapting to changes in load at the end-effector: during the release/lift of the divertor 2nd cassette to/from the divertor rails the accuracy remains within 5 mm. The algorithms and approach described are generic and can be adopted for other mechanisms. |
| Author | Karjalainen, Jaakko Siuko, Mikko Hämäläinen, Vesa Saarinen, Hannu Hamilton, David Määttä, Timo Esqué, Salvador |
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| Keywords | Structural simulator Accuracy Cassette multifunctional mover Remote handling Virtual reality |
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| References | Bouzgarrou, Ray, Gogu (bib0035) Septemper 1 2005; 219 Hamilton ja, Tesini (bib0020) September 2012; 87 Kiviranta, Saarinen, Mäkinen, Krassi (bib0030) 2010 Esque Sole S., F4E_D_4F4065, Annex_B_F4E-GRT-143_Technical _Specification, Written 06-July-2010, 41 pages. Siciliano Bruno, De Luca Alessandro, Wayne (bib0045) 2008 Tsai (bib0040) 1999 Saarinen, Kivelä, Zhai, Hämäläinen, Karjalainen, Aha (bib0005) 2010 Saarinen (bib0015) 2012 Kivelä, Saarinen, Mattila, Hämäläinen, Siuko, Semeraro (bib0025) 2010 Bouzgarrou (10.1016/j.fusengdes.2013.02.118_bib0035) 2005; 219 Siciliano Bruno (10.1016/j.fusengdes.2013.02.118_bib0045) 2008 Kivelä (10.1016/j.fusengdes.2013.02.118_bib0025) 2010 Tsai (10.1016/j.fusengdes.2013.02.118_bib0040) 1999 Hamilton ja (10.1016/j.fusengdes.2013.02.118_bib0020) 2012; 87 Saarinen (10.1016/j.fusengdes.2013.02.118_bib0005) 2010 Saarinen (10.1016/j.fusengdes.2013.02.118_bib0015) 2012 10.1016/j.fusengdes.2013.02.118_bib0010 Kiviranta (10.1016/j.fusengdes.2013.02.118_bib0030) 2010 |
| References_xml | – year: 2010 ident: bib0005 article-title: Results of CMM standalone tests at DTP2 publication-title: 26th Symposium on Fusion Technology – year: 2012 ident: bib0015 article-title: F4E-GRT-143_3.4_Control System Specification Appendix 5: Structural Simulator;F4E_D_24YHHM v2.0 – volume: 87 start-page: 1611 year: September 2012 end-page: 1615 ident: bib0020 article-title: An integrated architecture for the ITER RH control system publication-title: Fusion Engineering and Design – reference: Esque Sole S., F4E_D_4F4065, Annex_B_F4E-GRT-143_Technical _Specification, Written 06-July-2010, 41 pages. – year: 1999 ident: bib0040 article-title: Robot Analysis: The mechanics of Serial and Parallel Manipulators – year: 2008 ident: bib0045 article-title: Springer Handbook of Robotics: Robots with Flexible Elements – volume: 219 start-page: 285 year: Septemper 1 2005 end-page: 298 ident: bib0035 article-title: New approach for dynamic modellinf of flexible manipulators JF publication-title: Proceedings of the Institution of Mechanical Engineers, Part K – year: 2010 ident: bib0025 article-title: Calibration and Compensation of Deflections and Compliances in Remote Handling Equipment Configurations – year: 2010 ident: bib0030 article-title: A method for enabling real-time structural deformation in remote handling control system by utilizing offline simulation results and 3D model morphing publication-title: 26th Symposium on Fusion Technology – year: 2010 ident: 10.1016/j.fusengdes.2013.02.118_bib0025 – ident: 10.1016/j.fusengdes.2013.02.118_bib0010 – volume: 87 start-page: 1611 issue: 9 year: 2012 ident: 10.1016/j.fusengdes.2013.02.118_bib0020 article-title: An integrated architecture for the ITER RH control system publication-title: Fusion Engineering and Design doi: 10.1016/j.fusengdes.2012.05.012 – volume: 219 start-page: 285 issue: 3 year: 2005 ident: 10.1016/j.fusengdes.2013.02.118_bib0035 article-title: New approach for dynamic modellinf of flexible manipulators JF publication-title: Journal of Multi-body Dynamics – year: 1999 ident: 10.1016/j.fusengdes.2013.02.118_bib0040 – year: 2010 ident: 10.1016/j.fusengdes.2013.02.118_bib0005 article-title: Results of CMM standalone tests at DTP2 – year: 2010 ident: 10.1016/j.fusengdes.2013.02.118_bib0030 article-title: A method for enabling real-time structural deformation in remote handling control system by utilizing offline simulation results and 3D model morphing – year: 2008 ident: 10.1016/j.fusengdes.2013.02.118_bib0045 – year: 2012 ident: 10.1016/j.fusengdes.2013.02.118_bib0015 |
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| Snippet | ► An infinitesimal transformation represents elastic deflections. ► Equivalent spring factor is used to combine several deformations. ► Initial VR model... Continuing ITER divertor second cassette (SC) remote handling (RH) test campaign has been carried out at divertor test platform (DTP2) in Finland. One of the... |
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| SubjectTerms | Accuracy Algorithms Cassette multifunctional mover Cassettes Computer programs Computer simulation Deflection Mathematical models Platforms Remote handling Software Structural simulator Virtual reality |
| Title | Simulating and visualizing deflections of a remote handling mechanism |
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