Design Optimization of a Manipulator for CERN’s Future Circular Collider (FCC)

Hannes Gamper, Hannes Gamper, Hubert Gattringer, Andreas Müller, Mario Di Castro

2021

Abstract

CERN is often confronted with very specialized automation problems in hazardous, radioactive and semi-structured environments for its particle accelerators, test rigs or other experiments. These frequently lead to specific requirements that do not allow the usage of common industrial robots. Thus, a design problem with almost no restrictions on the actual robot topology, but very hard requirements concerning workspace, allowed robot space, payload, robot weight and accuracy (due to elasticity/error propagation) has to be solved. This paper reports an approach to this problem, which was applied to find an optimal robotic design for inspection and maintenance tasks in CERN’s Future Circular Collider (FCC).

Paper Citation

in Harvard Style

Gamper H., Gattringer H., Müller A. and Di Castro M. (2021). Design Optimization of a Manipulator for CERN’s Future Circular Collider (FCC). In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 320-329. DOI: 10.5220/0010601803200329

in Bibtex Style

@conference{icinco21,
author={Hannes Gamper and Hubert Gattringer and Andreas Müller and Mario Di Castro},
title={Design Optimization of a Manipulator for CERN’s Future Circular Collider (FCC)},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={320-329},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010601803200329},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Design Optimization of a Manipulator for CERN’s Future Circular Collider (FCC)
SN - 978-989-758-522-7
AU - Gamper H.
AU - Gattringer H.
AU - Müller A.
AU - Di Castro M.
PY - 2021
SP - 320
EP - 329
DO - 10.5220/0010601803200329