• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.2
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• pp.227-235
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• 2010

This paper introduces the design of a bridge transport system with a telescopic tube for positioning equipment to perform remote handling tasks in a radioactive facility. It consists of an extensible and retractable telescopic tube assembly for z-direction motion, a cabling system for management of power and signal cables, and a trolley system for transverse motion and accommodating servo drives. The working environment for the bridge transport system with the telescopic tube requires strict geometrical constraints, including a short height, short telescopic tube length when retracted, and a long stroke. These constraints were met by solving a nonlinear programming problem involving the optimal dimensions. This paper introduces a cabling system for effective management of cables with changeable lengths to accommodate telescopic motions and a selection guide for servo drives that are sufficient to drive the system.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2011.10a
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• pp.147-148
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• 2011

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2009.11a
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• pp.355-356
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• 2009

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2011.10a
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• pp.155-156
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• 2011

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.37-38
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• 2012

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2003.11a
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• pp.345-350
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• 2003

The development of a prototype for a Bridge Transported Servo Manipulator (BTSM) system operating in a hot cell is introduced. Mechanical master-slave manipulators (MSMs) which are mounted on the hot cell wall cannot access all the areas for the equipment maintenance due to their reach limitation. The BTSM has been developed to overcome the limitation of access that is a drawback of the MSMs for the equipment maintenance. Wire driven mechanisms have been adopted to increase the handling capacity to weight. This system can be a useful reference for designing other devices in the nuclear industry.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2004.06a
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• pp.306-315
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• 2004

A Bridge Transported Servo Manipulator (BTSM) for Advanced spent fuel Conditioning Process (ACP) has been developed to overcome the limitation of access that is a drawback of Mechanical master-slave manipulators (MSMs) for the equipment maintenance. Wire-driven mechanisms have been adopted to increase the handling capacity to weight. The main disadvantage of the wire driven mechanism is that if one link is in motion, other links can be affected because wires and links are coupled. In this paper, the relationship between pulleys and links are formiliarized to overcome this drawbacks, Derived equations are proven and analyzed through experiments.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.2 no.3
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• pp.189-199
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• 2004

A bridge transported servo manipulator (BTSM) system for the advanced spent fuel conditioning process (ACP) has been developed to overcome the limitation of access, which is a drawback of mechanical master-slave manipulators (MSM) for the equipment maintenance. The servo manipulator is composed of a slave manipulator attached to the telescoping tubesets equipped with the overhead bridge installed at a hot cell and a master manipulator installed at an out-of-hot cell. Each manipulator has 7 degrees-of-freedom (DOF): a body rotation, an upper-arm tilt, a lower-arm tilt, a lower-arm rotation, a wrist pan & tilt, and a grasp motion. A wire-driven mechanism for a lower-arm rotation, a wrist pan and tilt, and a grasp motion of the manipulator has been adopted to increase the handling capacity compared to the manipulator weight and decrease the friction. The main disadvantage of the wire-driven mechanism is that if one link is in motion, other links can be affected. In this paper, the transmission characteristics among the wire-driven links have been formulated to overcome this drawback. The unexpected behaviors are confirmed by analyses of transmission characteristics as well as experiments. Also, the experimental results show that the unexpected behaviors are greatly decreased by the proposed compensation equations.

• 월간낙농육우
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• v.35 no.11
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• pp.122-127
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• 2015

충북 청주시 흥덕구 오송읍. 산기슭 자락에 자리 잡은 기동목장(대표 남기동 현병숙)에는 여느 목장들과는 다른 특별함이 있다. 소들이 밥을 먹기 위해 걸어 나오면 선풍기가 소를 따라 방향을 틀어 시원하게 밥을 먹을 수 있도록 돕고, 소들이 휴식을 취하기 위해 운동장으로 이동하면 선풍기는 소들을 뒤따른다. 우사 천정은 흡사 돔구장을 보는 듯 자동으로 열렸다 닫혔다를 반복하고 혹여나 소가 넘어질까 바닥은 홈을 파놓았다. 하나부터 열까지 소들의 안전을 위주로 모든 것이 짜여 있는 이곳을 두고 목장주 남기동 대표는 이것은 특별함이 아닌 사소한 관심이라고 말한다. 남기동 대표는 "우리 목장은 그저 다른 목장들과 같은 평범한 목장인데 단지 다른 점이 있다면 틈틈이 설치한 편의시설들과 시설관리를 위한 장치들" 이라면서 "누구나 관심을 갖는다면 쉽게 설치할 수 있는 것들이라 내보이기도 부끄럽다"고 말했다.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.3 no.3
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• pp.257-268
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• 2005

In this paper, a prototype of the Bridge-Transported Servo Manipulator (BTSM) system is introduced, which has been developed to do operation and maintenance jobs remotely in a hot cell. The system consists of a telescopic transporter, a slave arm, a master arm, and a control system. Several tests such as a positional tracking, a weight handling, reliability, and operability have been performed and test results are presented. Based on the test results, an upgraded system which will be used during demonstrations of the advanced spent fuel conditioning process (ACP) has been designed.