JACoW is a publisher in Geneva, Switzerland that publishes the proceedings of accelerator conferences held around the world by an international collaboration of editors.
TY - CONF AU - Zhang, J.Y. AU - Chen, J.X. AU - Kang, L. AU - Liu, R.H. AU - Yu, J.B. ED - Schaa, Volker R.W. ED - Bian, Lin ED - Chen, Zhichu ED - Dong, Yuhui ED - He, Ping TI - Usability Study to Qualify a Maintenance Robotic System for Large Scale Experimental Facility J2 - Proc. of MEDSI2023, Beijing, China, 06-10 November 2023 CY - Beijing, China T2 - International Conference on Mechanical Engineering Design of Synchrotron Radiation Equipment and Instrumentation T3 - 12 LA - english AB - The primary stripper foil device is one of the most critical devices of The China Spallation Neutron Source Project Phase-II (CSNS-II), which requires regular foil replacement maintenance to ensure its stable operation. To mitigate the potential hazards posed to workers by prolonged exposure to high levels of radiation, a maintenance robotic system has been developed to perform repetitive and precise foil changing task. The proposed framework encompasses various aspects of the robotic system, including hardware structure, target detection, manipulator kinematics design, and system construction. The correctness and efficiency of the sys-tem are demonstrated through simulations carried out using ROS Moveit! and GAZEBO. PB - JACoW Publishing CP - Geneva, Switzerland SP - 93 EP - 96 KW - experiment KW - framework KW - target KW - radiation KW - hardware DA - 2024/07 PY - 2024 SN - 2673-5520 SN - 978-3-95450-250-9 DO - doi:10.18429/JACoW-MEDSI2023-TUPYP045 UR - https://jacow.org/medsi2023/papers/tupyp045.pdf ER -