The In-Vessel Inspection System (IVIS) is remote handling in-service system to perform visual inspections of the SST-1 scale tokamak under vacuum and high temperature in between the plasma shots. The IVIS system is approximately 4 m in length and has 5- degrees of freedom (DOF), consisting of four rotary joints and one linear motion for deployment inside the tokamak. The IVIS system is designed to support a cantilevered payload of approximately 1 kilogram while maintaining a positional accuracy of <2 mm. Initially, the IVIS system is stored in a vacuum chamber that is approximately 5 m long and maintained under Ultra-High Vacuum (UHV) conditions. This storage vacuum chamber (SVC) is separated from the Vacuum Vessel (VV) by a UHV gate valve. When performing visual inspections, the gate valve is opened, allowing the IVIS to be deployed within the VV. It then carries out the inspection procedure and subsequently returns to its initial position outside the VV. IVIS structural components are five links of arms made of aluminium alloy 6061-T6 and base link, lugs, stiffeners and shafts made of SS 304. Each module can provide rotation (±90° in the horizontal plane). With varying lengths, simulations were performed in virtual reality model to arrive at the present configuration. Based on the VR simulation, it was found that IVIS with a total of 5 links, 1 fixed link & maximum link lengths of 0.7 m (joint to joint) is sufficient to encompass the 180° sector inside SST-1 like machine. This paper offers an overview of the conceptual design, development, and testing phases of the IVIS and SVC to perform visual inspections on the SST-1 scale tokamak while it is under vacuum conditions in the intervals between plasma shots. The paper presents theoretical calculations, a comprehensive kinematic assessments, and structural integrity analyses. Additionally, it discusses strategies for optimizing the design based on these results. A feasibility assessment was conducted to evaluate the appropriateness of technologies for operating the IVIS under conditions resembling those of SST-1, including vacuum and temperature. The IVIS components are designed to withstand temperatures of approximately 100 °C during VV inspection and vacuum conditions (with a pressure of less than 1 × 10 mbar) for conditioning before entering the VV. The restrictions on out-gassing within the VV impose significant limitations on the design. The COTS components selection and availability (actuators, bearings, encoders, vacuum feed-throughs & cable tray) to match the performances compatible with high temperature, UHV requirements and to overcome pollution issues of the tokamak environment are discussed in this paper.

中文翻译：

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容器内检查系统：用于聚变远程处理的高真空和高温技术的开发和测试活动

容器内检查系统 (IVIS) 是远程处理在役系统，用于在等离子体发射之间的真空和高温下对 SST-1 级托卡马克进行目视检查。 IVIS 系统长约 4 m，具有 5 个自由度 (DOF)，由四个旋转关节和一个线性运动关节组成，用于部署在托卡马克内部。 IVIS 系统设计用于支撑约 1 公斤的悬臂式有效负载，同时保持 <2 毫米的位置精度。最初，IVIS 系统存储在约 5 m 长的真空室中，并保持在超高真空 (UHV) 条件下。该存储真空室 (SVC) 通过 UHV 闸阀与真空容器 (VV) 隔开。执行目视检查时，闸阀打开，允许 IVIS 在 VV 内部署。然后它执行检查程序并随后返回到 VV 之外的初始位置。 IVIS结构部件是由铝合金6061-T6制成的五连杆臂和由SS 304制成的底座连杆、凸耳、加强筋和轴。每个模块都可以提供旋转（水平面内±90°）。通过不同的长度，在虚拟现实模型中进行模拟以获得当前的配置。基于 VR 模拟，发现 IVIS 共有 5 个连杆、1 个固定连杆和最大连杆长度 0.7 m（关节到关节）足以包围 SST-1 类机器内部的 180° 扇区。本文概述了 IVIS 和 SVC 的概念设计、开发和测试阶段，以在等离子发射间隔期间在真空条件下对 SST-1 规模托卡马克进行目视检查。本文介绍了理论计算、全面的运动学评估和结构完整性分析。此外，它还讨论了根据这些结果优化设计的策略。进行了可行性评估，以评估在类似于 SST-1 的条件（包括真空和温度）下操作 IVIS 的技术的适当性。 IVIS 组件设计用于在 VV 检查期间承受大约 100 °C 的温度，并在进入 VV 之前在真空条件（压力小于 1 × 10 mbar）下进行调节。 VV 内排气的限制对设计造成了很大的限制。本文讨论了 COTS 组件的选择和可用性（执行器、轴承、编码器、真空馈通和电缆桥架），以匹配与高温、特高压要求兼容的性能，并克服托卡马克环境的污染问题。