Remote Handling at JET Boom transporter Twoarm manipulator
Remote Handling at JET Boom (transporter) Two-arm manipulator Required due to high invessel radiation field Force-feedback: “Man in Loop” system, used in JET for a wide variety of in-vessel tasks including heavy welding T N Todd JT 60 SA Remote Handling meeting 24 th November 2008
Remote handling capability in JET • • • Much preparatory work is Handling - installation and removal done in Virtual Reality Welding - eg 20 mm MIG “plug” welds Photogrammetry - camera and targets Testing wiring Cleaning plasma diagnostic windows Tile detritiation by intense flash-lamp In-vessel inspections Plasma diagnostics calibration Vacuum cleaning Wire-brushing Thread tapping TAE Antenna Filing Carrier assembly being moved by MASCOT T N Todd JT 60 SA Remote Handling meeting 24 th November 2008
ILW needs two Remote Handling booms acting in synergy MASCOT accessing Task Module Octant 5 T N Todd Octant 1 JT 60 SA Remote Handling meeting 24 th November 2008
The ILW tiles are on carriers but these require interface tooling Examples of poloidal limiter tile-carrier tooling Bolt Runners Torque Wrench W 4 Tile Carrier Tool Top (W 24) Tile Carrier Tool W 5 Tile Carrier Tool T N Todd Standard Wide Tile Carrier Tool JT 60 SA Remote Handling meeting Bottom (W 1) Tile Carrier Tool 24 th November 2008
Remote Handling divertor tile tooling: detailed example T N Todd JT 60 SA Remote Handling meeting 24 th November 2008
Large-scale remote handling - the ITER-Like Antenna T N Todd JT 60 SA Remote Handling meeting 24 th November 2008
Intricate remote handling - diagnostic cabling installation T N Todd JT 60 SA Remote Handling meeting 24 th November 2008
End T N Todd JT 60 SA Remote Handling meeting 24 th November 2008
JET In-vessel dose rate history (& projection from April 2007) T N Todd JT 60 SA Remote Handling meeting 24 th November 2008
Remote Handling tooling • Generic tools Torque wrench Ring spanner Bolt runner Portable camera T N Todd JT 60 SA Remote Handling meeting 24 th November 2008
ILW requires second toroidal-access boom • Necessitates extension and rebuild of existing “Octant 1” boom Trolley Main Boom Section Flanged Joint Vertical Traverse Section Slewing Ring Flange Task Module T N Todd JT 60 SA Remote Handling meeting 24 th November 2008
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