Probe manipulators are a versatile addition to typical plasma edge diagnostics.Equipped with material samples they allow for detailed investigation of plasma–wall interaction processes,such as material erosion,deposi...Probe manipulators are a versatile addition to typical plasma edge diagnostics.Equipped with material samples they allow for detailed investigation of plasma–wall interaction processes,such as material erosion,deposition or impurity transport pathways.When combined with electrical probes,a study of scrape-off layer and plasma edge density,temperature and flow profiles as well as magnetic topologies is possible.A mid-plane manipulator is already in operation on Wendelstein 7-X.A system in the divertor region is currently under development.In the present paper we discuss the critical issue of heat and power loads,power redistribution and experimental access to the complex magnetic topology of Wendelstein 7-X.All the aforementioned aspects are of relevance for the design and operation of a probe manipulator in a device like Wendelstein？7-X.A focus is put on the topological region that is accessible for the different coil current configurations at Wendelstein 7-X and the power load on the manipulator with respect to the resulting different magnetic configurations.Qualitative analysis of power loads on plasma-facing components is performed using a numerical tracer particle diffusion tool provided via the Wendelstein 7-X Webservices.展开更多
Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration control.Their configuration is similar to that of the exp...Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration control.Their configuration is similar to that of the experimental module manipulator(EMM)in the Chinese Space Station Remote Manipulator System.However,finding the analytical solution of an EMM on the basis of arm angle parameterization is difficult.This study proposes a high-precision,semi-analytical inverse method for EMMs.Firstly,the analytical inverse kinematic solution is established based on joint angle parameterization.Secondly,the analytical inverse kinematic solution for a non-offset spherical-roll-spherical(SRS)redundant manipulator is derived based on arm angle parameterization.The approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator.Thirdly,the error is corrected using a numerical method through the analytical inverse solution based on joint angle parameterization.After selecting the stride and termination condition,the precise inverse solution is computed for the EMM based on arm angle parameterization.Lastly,case solutions confirm that this method has high precision,and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.展开更多
基金funding from the Euratom research and training programme 2014–2018 under grant agreement no.633053
文摘Probe manipulators are a versatile addition to typical plasma edge diagnostics.Equipped with material samples they allow for detailed investigation of plasma–wall interaction processes,such as material erosion,deposition or impurity transport pathways.When combined with electrical probes,a study of scrape-off layer and plasma edge density,temperature and flow profiles as well as magnetic topologies is possible.A mid-plane manipulator is already in operation on Wendelstein 7-X.A system in the divertor region is currently under development.In the present paper we discuss the critical issue of heat and power loads,power redistribution and experimental access to the complex magnetic topology of Wendelstein 7-X.All the aforementioned aspects are of relevance for the design and operation of a probe manipulator in a device like Wendelstein？7-X.A focus is put on the topological region that is accessible for the different coil current configurations at Wendelstein 7-X and the power load on the manipulator with respect to the resulting different magnetic configurations.Qualitative analysis of power loads on plasma-facing components is performed using a numerical tracer particle diffusion tool provided via the Wendelstein 7-X Webservices.
基金This work was supported by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China(Grant No.51521003)the Major Research Plan of National Natural Science Foundation of China(Grant No.91848202).
文摘Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration control.Their configuration is similar to that of the experimental module manipulator(EMM)in the Chinese Space Station Remote Manipulator System.However,finding the analytical solution of an EMM on the basis of arm angle parameterization is difficult.This study proposes a high-precision,semi-analytical inverse method for EMMs.Firstly,the analytical inverse kinematic solution is established based on joint angle parameterization.Secondly,the analytical inverse kinematic solution for a non-offset spherical-roll-spherical(SRS)redundant manipulator is derived based on arm angle parameterization.The approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator.Thirdly,the error is corrected using a numerical method through the analytical inverse solution based on joint angle parameterization.After selecting the stride and termination condition,the precise inverse solution is computed for the EMM based on arm angle parameterization.Lastly,case solutions confirm that this method has high precision,and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.
