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Design & Development of Articulated Inspection ARM for in House Inspection in a Torus


Prof. V. H. Oza , B. H. Gardi College of engineering and technology, GTU, Rajkot; Mr. Vaibhav V. Gajera, B. H. Gardi College of engineering and technology, GTU, Rajkot; Mr. N. Ravi Prakash, Institute for plasma research, Gandhinagar; Mr. Naveen Rastogi, Institute for plasma research, Gandhinagar


Tokamak, Multi link robot, Gears, D.C. motor, potentiometer, ITER (International Thermonuclear Experimental Reactor).


Magnetic confinement of plasma can be achieved using a device Tokamak. Concept of Tokamak confinement is also been tried to develop a fusion reactor. Reactor environment is of high hostile for human intervention due to radiation from activated atoms. For any kind of maintenance works Remote operation is necessary. An attempt was made to arrive at a concept of using articulated inspection arm to check the components if any damage or replacement required during shutdown operation of reactor machine. Proof of concept towards Design and development of articulated inspection arm for Torus Vessel was carried out & a robot having multi link joint with a camera mounted on the end point and also an arm having three degrees of freedom was attempted. The concept was materialized developing an articulated inspection robotic arm.

Other Details

Paper ID: IJSRDV1I6024
Published in: Volume : 1, Issue : 6
Publication Date: 01/09/2013
Page(s): 1369-1371

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