제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of a Bridge Transported ServoManipulator System for a Radioactive Environment

  • Park, B.S. (Korea Atomic Energy Research Institute) ;
  • Jin, J.H. (Korea Atomic Energy Research Institute) ;
  • Ahn, S.H. (Korea Atomic Energy Research Institute) ;
  • Song, T.G. (Korea Atomic Energy Research Institute) ;
  • Kim, D.G. (Korea Atomic Energy Research Institute) ;
  • Yoon, J.S. (Korea Atomic Energy Research Institute)
  • Published : 2003.10.22
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Abstract

The KAERI Spent Fuel Remote Technology Development (SFRTD) Department is developing the remote maintenance and repair equipment, which is used in a hot cell in an intense radiation field, as part of a project to develop the Advanced spent fuel Conditioning Process (ACP). Although several mechanical master-slave manipulators (MSMs) is mounted on the hot cell wall, their reach will be limited and cannot access areas for all the ACP equipment maintenance. A Bridge Transported ServoManipulator (BTSM) has been designed to overcome the limitation of access areas that is a drawback of MSMs for the ACP equipment maintenance. The BTSM system consists of four components: a transporter with telescoping tubeset, a slave manipulator, a master manipulator, and a remote control system. The BTSM system has been designed by Solid Edge that is a 3D computer-aided design (CAD) software, except for the remote control system. The master manipulator and the slave manipulator are kinematically similar in design, except for the handle and the tong, respectively. The manipulators have 6 degrees of freedom (DOF) plus the jaws motion. The transporter has traveling, traverse, and hoisting motion to position the slave manipulator.

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