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Experimental Advanced Superconducting Tokamak(EAST),which is a full superconducting tokamak with D-shape vacuum vessel, has been set up by ASIPP since 2006. When the harsh working condition especially the radiation is taken into consideration, it’s difficult to obtain the information about the in-vessel components timely. The remote inspection robot system, named the long reach robot, is designed for the full volume inspection for the EAST vacuum vessel(VV). It is a serial-link robot with high cantilever structure, sufficient degree of freedoms(DOFs). It’s essential to investigate the force performance of the device because of some components are suffered high force and toque. The force analysis and simulation presented in this paper indicate that the long reach robot has high force sufficient strength and can work properly.

Force analysis and simulation of a remote inspection robot for EAST