Object-oriented modeling, simulation and control of a 6-DoF parallel kinematic manipulator for remote handling in DONES facility

This paper describes the modeling and simulation activities performed, within the EUROfusion framework, to support the engineering design and the development of the control system of the DONES Parallel Kinematic Manipulator (PKM), a 6-DoF parallel robot part of the Remote Handling System of the DONES facility. The main tasks of the PKM are the planned annual replacement of the Target Assembly and the High Flux Test Module, two of the crucial and most activated components of DONES. The PKM model, developed using the Modelica object-oriented language, is able to simulate the dynamics of the entire robots, including the main non-linear effects due to backlashes and static friction. The simulator is employed to support the preliminary design of the control system, based on an independent-joint approach with dual-loop cascade-PID logic. Simulations are then conducted to assess robot performances in terms of resolution, accuracy, repeatability and generated forces.