Dynamic analysis of multi-functional maintenance platform based on Newton-Euler method and improved virtual work principle

The structure design of divertor Multi-Functional Maintenance Platform (MFMP) actuated by hydraulic system for China Fusion Engineering Test Reactor (CFETR) was introduced in this paper. The model of MFMP was established according to maintenance requirements. In this paper, Newton-Euler method and t...

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Bibliographic Details
Published inNuclear engineering and technology Vol. 52; no. 11; pp. 2630 - 2637
Main Authors Li, Dongyi, Lu, Kun, Cheng, Yong, Zhao, Wenlong, Yang, Songzhu, Zhang, Yu, Li, Junwei, Shi, Shanshuang
Format Journal Article
LanguageKorean
Published 2020
Subjects
Dynamic analysis
Divertor
Multi-functional maintenance platform
3-RPS parallel Robot
ADAMS simulation
China Fusion engineering test reactor
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Summary:The structure design of divertor Multi-Functional Maintenance Platform (MFMP) actuated by hydraulic system for China Fusion Engineering Test Reactor (CFETR) was introduced in this paper. The model of MFMP was established according to maintenance requirements. In this paper, Newton-Euler method and the improved virtual work principle were used, the equivalent driving force of each actuator was obtained through the equivalent Jacobian inverse matrix derived from velocity relationship among the components. The accuracy of the model was verified by ADAMS simulation. The stability control of the heavy-duty components driven by hydraulic cylinders based on Newton-Euler method and improved virtual work principle was established.
Bibliography:KISTI1.1003/JNL.JAKO202031837625310
ISSN:1738-5733
2234-358X