• Title/Summary/Keyword: 원격 취급

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Development of remote drum grappling device for Automation (물류자동화를 위한 드럼원격 취급장치 개발에 관한 연구)

  • 오승철;윤지섭
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1997.04a
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    • pp.739-742
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    • 1997

  • A remote drum grappling device coupled to the anti-swing crane has been developed by KAERI to cope with problems involved in manually treating low level waste drums. In order for this grappling device to be operated effectively, multi-sensors including CCD camera were employed. As an activity representation scheme of the device, Extended State Machine (ESM) was used to descibe its operation sequences. The performance testing of the device was conducted successfully, and consequently its application could be extendable to industrial operation environment.

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Development of the Maintenance Process Based on Graphic Simulation for the Parts of the Equipment at the outside of the MSM′s Workspace in a Hot Cell (그래픽 전산모사를 이용한 핫셀 사각지역 내 장치부품 유지보수공정 개발)

  • 이종열;김승현;송태길;박병석;윤지섭
    • Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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    • v.1 no.1
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    • pp.55-64
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    • 2003

  • In this study, the maintenance process by the servo manipulator has been developed for the parts of the equipment, which we unable to reach out by the Master-Slave Manipulator(MSM) in a hot cell. To do this, a virtual mock-up is implemented using the iか prototyping technology. Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass have been analyzed. In addition, the path planning of the servo manipulator using the collision detection function of the virtual mock-up has been established. From these, the maintenance process for the parts of the equipment, which are located at the outside of the MSM's workspace using the servo manipulator has been proposed and verified through the graphic simulation. It is revealed that the proposed remote maintenance process of the equipment can effectively be used in the real hot cell operation. It is also believed that the implemented virtual mock-up of the hot cell can effectively be applied in analyzing the various hot cell operation and enhancing the reliability and safety in a hot cell remote handling for the spent fuel management.

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