Abstract
With a view to determine a safe speed the limit of a manipulator arm, several experiments was performed with a multi-jointed manipulator in maintenance and decommissioning tasks of nuclear facilities. Under the simulated emergency conditions, which were generated with random combinations of manipulator arm speed, failure probability and failure type, response characteristics of human operators to various malfunctions of a manipulator arm were measured in terms of reaction time, number of false alarm, and number of misses. This paper demonstrated that failure type, manipulator axes and manipulator arm speed has significant effects on human reaction time. As a whole the reaction time was slightly increased with manipulator arm speed, which is showed somewhat different pattern due to failure type. The reaction time to an axis acting on a workpiece directly, which could flex and extend, was fastest and much more its standard deviation was small. Various factors which may affect safe speed were also described.
원자력시설 유지보수 및 해체시 다관절 매니퓰레이터 이상동작에 대한 작업자의 반응특성과 안전속도 수준을 다루고 있다. 매니퓰레이터 팔의 속도, 오류 가능성, 오류 형태와 같은 여러 가지 작업 조건에 따라 작업자의 반응시간, 고장 경보(false alarm), 실패(miss) 횟수 등에 대한 작업자의 반응 특성을 분석하였다. 매니퓰레이터 팔의 속도와 이상동작 형태는 반응시간에 영향을 주지만, 이상동작 가능성에 영향을 미치지 않았고, 두 요인 이상의 교호작용은 대체로 영향이 없었다. 매니퓰레이터 팔의 속도변화에 따른 반응시간 특성은 이상동작 형태에 따라 다르지만 대체로 약간 증가하는 추세를 보였다.
