Alignment Mechanism for a Special End-Effector Used in the Princeton Tokamak Fusion Test Reactor

Abstract

This paper discusses the conceptual design of a unique, compact, 5 degree-of-freedom alignment mechanism employed in the protective tile installing/removing End-Effector operating inside the radioactive torroidal vacuum vessel of the TOKAMAK Fusion Test Reactor at Princeton University, New Jersey.The design is based on the principle of Circular Adjuster, which is essentially a multidirectional straight-line mechanism.