Robotic Arm Design and Simulation for Remote Maintenance in the DTT Fusion Reactor

The need for low-carbon, predictable, and reliable power has driven the European community to establish the EUROfusion project, aiming to provide grid electricity by the mid-21st century through nuclear fusion plants integrated with renewable energy sources. A key component of this initiative is the Divertor Tokamak Test facility (DTT) in Frascati, Italy, by ENEA, which will test reactor configurations and technologies for the future DEMOnstration (DEMO) reactor. Due to neutron-induced radioactivity, remote-controlled robots will perform maintenance on plasma-exposed components, operating during non-active periods. This paper proposes a robotic arm designed to perform pipe extraction and positioning in confined environments as part of the DTT's Divertor Handling subsystem. The robotic system described and its working environment are tested using a model of the system built in a multibody environment. Results allow to to evaluate joints motors specifications and the capability of the manipulator to achieve the task. The end effector trajectory is designed to avoid collision with the environment during the maneuver.