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Article
Publication date: 8 January 2018

Shanshuang Shi, Huapeng Wu, Yuntao Song and Heikki Handroos

This paper aims to present a study on composite coating films for solid lubrication applied on the surface of bearings and gears, which are exposed to the vacuum vessel of a…

152

Abstract

Purpose

This paper aims to present a study on composite coating films for solid lubrication applied on the surface of bearings and gears, which are exposed to the vacuum vessel of a tokamak fusion experimental device running under ultra-high vacuum conditions. Experimental advanced superconducting tokamak is a tokamak fusion experimental device running under ultra-high vacuum conditions. To avoid polluting the inner vessel environment, solid lubrication has been applied on the surface of bearings and gears, which are exposed to the vacuum.

Design/methodology/approach

Anti-friction MoS2 coatings integrated with Titanium and Carbon have been developed using the multi-target magnetron sputtering deposition technique. This paper presents the comparative testing of tribological properties for three kinds of MoS2-based coating layers.

Findings

Based on the test results, MoS2-Ti-C coating films are supposed to be the final selection because of the better performance of friction coefficient and lubrication longevity.

Originality/value

Finally, the detailed information has been characterized for the hybrid coatings, which can provide some references for applications of solid lubrications under similar conditions of high vacuum and temperature.

Details

Industrial Lubrication and Tribology, vol. 70 no. 1
Type: Research Article
ISSN: 0036-8792

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Article
Publication date: 16 October 2017

Shanshuang Shi, Huapeng Wu, Yuntao Song and Heikki Handroos

The purpose of this paper is to introduce a development and error modeling of a serial redundant manipulator system applied in nuclear fusion environment. Detailed mechanical…

283

Abstract

Purpose

The purpose of this paper is to introduce a development and error modeling of a serial redundant manipulator system applied in nuclear fusion environment. Detailed mechanical design of vacuum-compatible arms and actuators are presented, and manipulator flexibility is studied through experiments and model identification algorithm to evaluate the deformation.

Design/methodology/approach

First, the manipulator is designed to be several modular segments to obtain enough and flexible workspace inside the fusion device with narrow and complex geometries. Joint actuators with “rotation-linear-rotation” chains are developed to provide both huge reduction ratios and vacuum sealing. The redundant manipulator system has 11 degree of freedoms in total with a storage cask system to dock with the device vacuum vessel. In addition, to improve the position accuracy, an error prediction model is built based on the experimental study and back-propagation neural network (BPNN) algorithm.

Findings

Currently, the implementation of the manipulator system has been successfully carried out in both atmosphere and vacuum condition. Excellent performance indicates that the mechanical design is suitable. The validation of BPNN model shows an acceptable prediction accuracy (94∼98 per cent) compared with the real measurement.

Originality/value

This is a special robot system which is practically used in a nuclear fusion device in China. It will allow remote inspection and maintenance of plasma facing components in the vacuum vessel of fusion device without breaking the ultra-high vacuum condition during physical experiments. Its design, mechanism and error prediction strategy have great reference values to the similar robots in vacuum and temperature applications.

Details

Industrial Robot: An International Journal, vol. 44 no. 6
Type: Research Article
ISSN: 0143-991X

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