关键词: 核聚变堆维护, 遥操作, 重载机械臂, 旋转关节, 工程研究

Abstract: Aiming at the remote handling and maintenance requirements of the International Thermonuclear Experimental Reactor (ITER) and cracking the dilemma of high research and development risks for Multi-Purpose Deployer (MPD) system in remote operation systems, this paper selects the most demanding rotary joint of the multi-joint main transporter as the research object, proposes a rotary joint engineering design scheme in the nuclear environment. In this paper, a joint transmission chain that can withstand high torque and impact loads is designed, a rotary joint end compensation support scheme that can bear large bending moment and shear force is proposed, and a cable chain concept design with a specific rotation angle usage in limited space is provided. The design scheme proposed in this paper can effectively promote the research and development process of the current MPD system, and can provide reference for the design of the MPD system in the future commercial fusion reactor. 

Key words:  , Maintenance of nuclear fusion facility, Remote handling, Heavy-duty manipulator, Rotary joint, Engineering research