Development of a telerobotic system for handling contaminated process equipment
E. I. du Pont de Nemours and Company is evaluating a unique eight-degree-of-freedom Telerobot manipulator to perform size-reduction and material handling operations on contaminated process equipment at the Savannah River Plant (SRP). The Telerobot will be installed in the proposed Transuranic (TRU) Waste Processing Facility, which is scheduled to be operational by 1990. A full-scale prototype Telerobot, manufactured by GCA Corporation, St. Paul, MN is being tested with other process equipment in the Components Test Facility at the Savannah River Laboratory (SRL). All telerobotic operations required in the TRU Waste Facility such as crate unpacking, equipment dismantling, material size-reduction, and selected maintenance operations are being tested. This paper discusses the major mechanical and control features of the Telerobot system. Several system enhancements were added by SRL, including a new quick-hand-change coupling and expanded software control functions. The new software enables a system operator to perform both teleoperated and automatic tasks through several operating modes. These enhancements, as well as future mechanical, control system, and software features, are reviewed.
- Research Organization:
- Du Pont de Nemours (E.I.) and Co., Aiken, SC (USA). Savannah River Lab.
- DOE Contract Number:
- AC09-76SR00001
- OSTI ID:
- 6969471
- Report Number(s):
- DP-MS-86-185; CONF-870301-13; ON: DE87004186
- Resource Relation:
- Conference: International topical meeting on remote systems and robotics in hostile environments, Pasco, WA, USA, 29 Mar 1987; Other Information: Portions of this document are illegible in microfiche products
- Country of Publication:
- United States
- Language:
- English
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