Mechanism modelling of in-vessel transfer machine in KALIMER

When In-Vessel Transfer Machine (IVTM) handle the core assembly during the refueling time in the reactor core, it is necessary to predict the motion of it precisely. In this paper, the characteristics of the conceptual design for KALIMER IVTM was studied and the kinematic analysis for the mechanical system has been carried out. The configuration by the design parameters such as the dimension of each part and the joint positions was modeled by IDEAS Code. To simulate the driving mechanism of IVTM, the movement of the joints was considered by using the step function. The displacement, velocity and acceleration for the rigid body and the reaction force of the joints were calculated by considering the weight of IVTM and the external force due to loading of the core assembly. The result will be used to the data for evaluating the structural integrity and the reduction of the weight through the change of the design parameters and the material