In this technical example, an approach is demonstrated on how to drive and monitor a robot inside a tokamak reactor capsule during maintenance. The investigations were embedded in the research project for ITER, one of the most ambitious energy projects in the world. Due to very high temperatures and radiation, the tokamak itself is a zone better not trespassed by humans or sensitive equipment. Therefore, to operate and monitor the real system behavior, a modeled digital twin of the maintenance robot system can be used and simulated instead. Even trainings of the maintenance process can be conducted with this twin model. In general, with the help of digital twins we can better understand and simulate the world we live in.

The robotic capabilities of DELMIA data and CATIA Kinematics are used to derive the dynamic model in Dymola, which is an object-oriented tool suitable to simulate multi-physical systems and environments. It is based on the open standard language Modelica.

Thank you @VL ​​​​​​​