The basic remote maintenance work is undertaken by a dexterous, force-reflecting master-slave servo-manipulator (called the Mascot).
The Mascot Slave unit is transported on the end of a 10 metre long articulated robot. The Mascot master station is driven by experienced operators situated in the Remote Handling Control Room.
To gain access to the inside of the torus, two of the eight main horizontal ports are reserved for Remote Handling. A second articulated Boom works in parallel with the first to transfer components and tools between storage facilities outside the torus and the workplace within the torus. Both Booms are hyper-redundant multi-joint devices to allow them to “snake” their way through the narrow ports and around the torus.
Other robots are designed for Ex-Vessel work, like the Telescopic Articulated Remote Mast (TARM), which is suspended from the main 150 ton gantry crane.
The adoption of a man-in-the-loop philosophy has allowed the JET Remote Handling capability to increase stepwise with the number of applications.
This philosophy has resulted in a modular Remote Handling system where the expensive and long lead time elements such as the Articulated Boom and Mascot are not required to change with the application.