Research and Development of Joint Test Platform for CFETR Multipurpose Overload Robot

摘要

Chinese Fusion Engineering Test Reactor (CFETR) multipurpose overload robot (CMOR) is a key equipment used for maintaining in-vessel components like divertor plasma-facing component in future fusion reactor. The payload of CMOR reaches 2.5 tons, which makes the output torque and bending moment of CMOR joint really large. Therefore, it is essential to test the joints of CMOR before assembly for safety consideration. At the same time, in order to achieve higher moving accuracy when installing heavy components in a vacuum vessel, the deformation parameters of CMOR joints are needed when building the control system of CMOR. Taking into account the above factors, it is particularly important to establish a testing experimental platform that can obtain the deformation parameters of CMOR joints for precision control before further assembly. This article proposes a detailed design of a joint test platform that can test the heavy-load joints with a loading capacity of maximum bending moment and maximum torque that reaches 250 and 180 kN <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\cdot$</tex-math> </inline-formula> m, respectively. The test platform is designed, manufactured, and tested on a CMOR joint prototype. The test results show that the test platform is successfully designed and the deformation parameters are also collected during testing which can be of great value to CMOR precise control. The test platform can be used for future CMOR joint tests, and international thermonuclear experimental reactor multipurpose deployer (ITER MPD) joints can use this test platform for joint test as well with some upgrades and interface modification.