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Authors: Hannes Gamper 1 ; 2 ; Hubert Gattringer 2 ; Andreas Müller 2 and Mario Di Castro 1

Affiliations: 1 BE-CEM-MRO, CERN - European Organization for Nuclear Research, Espl. des Particules 1, 1211 Meyrin, Switzerland ; 2 Institute of Robotics, Johannes Kepler University, Altenbergerstraße 69, 4040 Linz, Austria

Keyword(s): Design Optimization, Redundant System, Manipulator.

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).

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Paper citation in several formats:
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 - ICINCO; ISBN 978-989-758-522-7; ISSN 2184-2809, SciTePress, pages 320-329. DOI: 10.5220/0010601803200329

@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 - ICINCO},
year={2021},
pages={320-329},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010601803200329},
isbn={978-989-758-522-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Design Optimization of a Manipulator for CERN’s Future Circular Collider (FCC)
SN - 978-989-758-522-7
IS - 2184-2809
AU - Gamper, H.
AU - Gattringer, H.
AU - Müller, A.
AU - Di Castro, M.
PY - 2021
SP - 320
EP - 329
DO - 10.5220/0010601803200329
PB - SciTePress

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