Systems engineering approach for the iterative concept design and virtual simulation of the DTT hyper redundant manipulator

Martone, 2019, DTT - Divertor Tokamak Test facility: A testbed for DEMO, Fusion Eng. Des., 167 Albanese, 2016, DTT: A divertor tokamak test facility for the study of the power exhaust issues in view of DEMO, Nucl. Fusion, 57, 10.1088/0029-5515/57/1/016010 Martone, 2019, DTT - Divertor Tokamak Test facility: A testbed for DEMO, Fusion Eng. Des., 167 Di Gironimo, 2022, Concept selection for the preliminary DTT remote maintenance strategy, Fusion Eng. Des., 180 C. Lauretti, S. Grazioso, E. De Marchi, T. Grasso, D. Indrigo, M. Favaretto, D. Marzullo, G. Miccichè, M. Parisi, A. Reale, G. Di Gironimo, Remote Handling System for the DTT Fusion Reactor: A System Engineering Approach for Preliminary Conceptual Design of the Main Robotic Equipment, in: OMC Med Energy Conference and Exhibition, Ravenna, Italy, 2021. Di Gironimo, 2021, The DTT device: Preliminary remote maintenance strategy, Fusion Eng. Des., 172 Brusa, 2018 Haskins, 2006, Systems engineering for the planet, INSIGHT, 11, 6, 10.1002/inst.20081146 Connolly, 2006, Delmia robot modelling software aids nuclear and other industries, Ind. Robot: Int. J., 33, 259, 10.1108/01439910610667863 Zhao, 2021, Solving the inverse kinematics problem of multiple redundant manipulators with collision avoidance in dynamic environments, J. Intell. Amp; Robot. Syst., 101, 30, 10.1007/s10846-020-01279-w Grazioso, 2019, Modeling and vibration control of flexible mechanical systems for DEMO remote maintenance: Results from the FlexARM project, Fusion Eng. Des., 146, 1423, 10.1016/j.fusengdes.2019.02.096 1990, AL 7075-T6 Lauretti, 2022, A geometric approach to inverse kinematics of hyper-redundant manipulators for tokamaks maintenance, Mech. Mach. Theory, 176, 10.1016/j.mechmachtheory.2022.104967