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CFETR which stands for China Fusion Engineering Test Reactor is a superconducting Tokamak device. Remote handling (RH) has been proved to be an important way for maintenance of CFETR Blanket. The lifting mechanism of manipulator can remove or assemble blanket modular and then lift the blanket by use hydraulic drive system. However, the medium in traditional hydraulic system is mineral oil, in the nuclear environment they are dangerous in case of leakage and activate. While the characteristics of water is the inert medium, water hydraulic drive is best choice in the RH maintenance. This paper presents the technical and theoretical background of hydraulic component in the circuit of blanket maintenance manipulator. What is more, the hydraulic circuit will also be designed, which confirmed meets requirements in the work process.

The remote handling operations of the China fusion engineering test reactor blanket is highly challenging since the tasks performed by the water hydraulic manipulator, which is made up of three hydraulic cylinders, involve driving up, synchronous controlling and transporting from inside the vacuum vessel. The blanket is made of stainless steel, high 7 m and weigh 60 t, which makes the assembly and maintenance more difficult. A general synchronization control system cannot be used due to its poor stability and low precision in the heavy duty working process. Therefore, to achieve higher precision in controlling of three hydraulic cylinders, one of the most suitable options should be provided. This paper studies the control of synchronous system, besides, it also discusses an effective way to improve synchronization accuracy by use AMEsim. The results of simulations demonstrates that insert the low-pass filter in control loop can be utilized to improve the precision of manipulator.

The design and research work for the China Fusion Engineering Test Reactor (CFETR) started from 2012. Remote handling (RH) is one of the most important ways for maintenance of CFETR Blanket. The RH is composed of two manipulators, auxiliary manipulator is used for cooling water pipe cutting and welding, while main manipulator is design to carry heavy components such as blanket through the upper port relying on positioning accuracy and reliability. This paper presents how the main manipulator can be more precision to optimize the safety of RH tasks. The paper also discusses an effective way to optimize the design and analysis of the main manipulator. The results show that the optimization of the water hydraulic manipulator makes a significant contribution to the R&D of the RH of CFETR.