Speaker
Description
Contamination by particulate matter, such as dust and debris, during the assembly of SRF cavities and their associated components can significantly degrade cavity performance due to thermal losses and field emission. Therefore, it is essential to suppress both the generation and intrusion of particulates in addition to maintaining a clean environment. Human activity is a dominant source of particulate contamination in cleanrooms. To reduce contamination arising from human intervention, robotic systems have been introduced for SRF cavity assembly in a cleanroom environment. Simple assembly motions relevant to cavity assembly have been demonstrated using a direct teaching method. Based on these results, we have developed a simulation-based control framework and generated robot motions within the simulation environment. The simulated motions were transferred to the real system and validated experimentally. Using this framework, we are advancing its application to actual SRF cavity assembly tasks. This paper presents the current status of the study and future prospects for the development of robotic assembly systems at KEK.
| I have read and accept the Privacy Policy Statement | Yes |
|---|