Optimal design of robot for inspection and maintenance of pressurizer in the nuclear power plant

원자력발전소 가압기 점검보수 로봇의 최적화 설계

The robot mainpulator for inspection of pressurizer in the nuclear power plant has been developed, which consists of four parts : 2 arms, movable gripper, base frame, contorl console. To extract the damaged electric heating rod inside pressurizer, the gripper has been developed using wire lope and self-locking mechanism. for the examination of the structural stability of the robot manipulator, stress analysis is performed by using the ANSYS code.