Blanket Module Remote Handling Project (L- 6)

The objective of the Blanket Module remote handling project is to develop and demonstrate the ability to remotely maintain blanket modules, including manipulating a 4 t module at a distance of 8 m with an accuracy of 1 mm, as well as welding/cutting of branch pipes, attachment/detachment from the main structure and in-vessel viewing for inspection and monitoring.

A reduced capacity (1.2 t payload) and a partial model of the rail deployment system has been built and tested. These models reduce the gap between the present and required technology and reduce the risk and cost of development of the full scale equipment. The models were tested to verify the handling capacity and positioning accuracy of the manipulator, and the deployment procedures of the articulated rail system.

After development and prototype demonstration of the main systems and techniques, full-scale testing and verification has been carried out on the Blanket Remote Handling Test Platform constructed at JAERI´s Naka laboratory.

Results show that final positioning accuracy can be achieved within 0.5 mm and 0.1", compensating for arm deflections. The rail can be deployed 90° around the torus in about 30 minutes.

Figure 1:Overview of Blanket Testplatform (BTP)
[Courtesy of JAERI, JAPAN]

Figure 2:Vehicle manipulator handling dummy blanket module
[Courtesy of JAERI, JAPAN]