tore supra association euratom-cea 2 nd gota-ppe meeting julien wagrez 1 06 december 2009 efda iter...

TORE SUPRA

AssociationEURATOM-CEA

2nd GOTA-PPE meeting Julien WAGREZ 06 December 2009

1

EFDA ITER - Goal Oriented Training Program Port Plug Engineering

-Maintainability associated to ITER Component

Lifecycle-

Tutor : Jen-Pierre MARTINS

[email protected]

EFDA ITER - Goal Oriented Training Program Port Plug Engineering

-Maintainability associated to ITER Component

Lifecycle-

Tutor : Jen-Pierre MARTINS

[email protected]

EFDA Goal Oriented Training ProgramPort Plug Engineering

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Objectives of my program

Short presentation of an Eq port plug

Kinematic & FE Analysis on the Transfer Cask System with Samtech

Maintenance of the TBM with HAS


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Objectives

Background

Cause = nuclear fusion reactions for long term high magnetic fields produces high energy neutron generates very high temperatures

Consequence = maintenance in nuclear environment make first wall components highly constrained and causes its wear many parts of this region must be replaced or refurbished during the reactor’s life maintenance of a reactor in exploitation is a critical point, because it directly affects the availability of the machine and its economical productivity

Program motivations Even if the goal of ITER is not to be an industrial reactor, it is essential to consider its maintainability for at least two major reasons:

To have powerful available experimental equipment To demonstrate that the maintenance by remote handling is possible for the further steps (DEMO)

Because remote handling is one of the most important technical issues of the whole project


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Dimension : 3.5m x 2.2m x 1.7mWeight : 45tFirst Wall Component (= high activation)

Equatorial Port Plug


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Kinematic & FE Analysis on the Transfer Cask System with Samtech

Collaboration with SAMTECH :

Collection of input data

Definition of the analysis methodology and study cases

Setup and delivery of the CATIA V5 configuration models for the study

Idealization of the CAD geometry, in order to have a model that will be more oriented to computation

Delivery of the specifications the simulation activity


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Transfer Cask System (TCS) : Ports dedicated maintenance platform. It has to carry the first wall component to the Hot Cells (nuclear maintenance room).

Envelope : it docks to the port and provide the confinment .

Pallet : it permits to align the envelope with the port.

Air cushion : it moves the all system inside the building.


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Initial models

Transferred by the DET-00433 Environment + current TCS model roughly positioned Last studies results were also implemented


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Geometry preparation

Simplification, replacement or creation of 3D entities Methodology for transfers from CATIA to inside SAMCEF operational

Cask envelope

Pallet system

Building

VV Port

Rails CAS

End-effector

Tractor

Port plug


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Geometry preparation

Positions checking and corrections

PLUG flange bolting face center

TCS front face art floor level

TCS CONTAINER Horizontal floor plane

TCS PALLET / CONTAINER Horizontal interface plane


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Boundary conditions

Localization of surfaces for forces reactions on the structureIdentification of the surfaces in contact


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Loading conditions

Postion and value for the center of gravity of the main objects to take into account

Rear rescue door center of gravity

Closed double door center of gravity

Mover center of gravity

Opened double door center of gravity

Port plug center of gravity


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Kinematics

3D elements for mechanisms simulationTCS skeleton for main elements positions and interfaces

ALL DOCKED

120

5.020

5.020

zRmmzT

yRmmyT

xRmmxT


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Kinematics

Diagram of the mechanical links between the different subsystems


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Conclusion

Geometry is fixedBoundary and loading conditions are defined Kinematics preparation is fully operational in CATIA

The report finalizing the 80% of the CEA contribution is about to be officially delivered to SAMTECH


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TBS Layout Main technical components of the TBM system

TBMs ( 2 vertical modules per equatorial port plug) Plug frame, ultra high vacuum sealing, mechanical attachment and cooling pipes (IF2a) Manifold set for TBM feeding (Pipe forest) Bioshield Ancilary Equipment Unit (AEU) : PbLi-loop, measurement equipment, valves, tanks, … Tritium plant dedicated area

Main components of the installed TBM system in port cell (EU current study)

Port Duct

Port Extension Port Cell

Bioshield Port Cell Door

Vac

uum

Ves

sel

AEU

IF1 IF2a IF2b IF3

Tritium plant equipment

+

VV

Port Cell

T Plant

VV Port Cell T Plant

TBM -TG04 Kick off MeetingTask 19 : Design and development plan of the port cell dis-/assembly RH system

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Maintenance conditions hypothesis for the current study

Interface 2a is accessible even if AEU is connected => robot carriage must be installed in AEU structure

A maintenance corridor is available on the side to allow human / machine access to the interfaces

The bio-shield contains a dedicated maintenance door to give access to the pipe forest

The cutting task is considered prior to the welding operation, because this is the most critical operation in terms of exposure


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Pipe Forest preliminary design Pipe forest integration taking into account maintenance access (man / robot) Pipes insulation thickness = 100mm


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Robotic simulations first results Industrial arm mounted on a commercial based elements 4 dofs platform designed by HAS After some modifications on the pipes and robotic tool design, first preliminary result have not revealed any killing issue


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Remaining work and outlook

First test with one dexterous industrial robot arm have been performed for cutting accessibility

A more realistic cutting tool coming from HAS work is about to be integrated in order to replace the current simplified shape

The remote removal of the insulation “half-shells” is about to start

Other industrial robotic arms will be implemented in order to check the feasibility with different kind of robot providers. This is in order to avoid any exclusive robotic arm architecture and provider.

An important handling equipment is required to transport the pipe forest during maintenance operations. A first assessment of this tool is starting.

A preliminary design of the bio-shield will specify it’s main interfaces


tore supra association euratom-cea 2 nd gota-ppe meeting julien wagrez 1 06 december 2009 efda iter...

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