Telerobot tool maintenance using master-slave manipulators
The Savannah River Site (SRS) will process large bulky transuranic (TRU) waste items with a robotic gantry manipulator. The Savannah River Technology Center (SRTC) built a TRU Waste Test Facility (TWTF) to demonstrate this concept. The test robot uses several tools (i.e. plasma torch, chain saw, and gripper) to open, size reduce, and repackage simulated waste items. Waste processing campaigns in the TWTF show the various robot tools require periodic maintenance, such as replacing the torch tip and replacing saw blades. The primary objectives of this test were to determine if standard master-slave manipulators (MSMS) can complete remote robot tool maintenance, and if so, how long does the maintenance take. Test results show that MSMs completed 5 of 8 tool maintenance tasks attempted, and each task took 15 minutes or less. The three tasks that couldn`t be completed involved specially designed tools, and these tools could be redesigned to allow remote MSM maintenance. MSMs can complete robot tool maintenance in a reasonable amount of time. This conclusion supports the SRS philosophy of remotely processing large bulky TRU waste items using a robotic gantry manipulator.
- Research Organization:
- Savannah River Site (SRS), Aiken, SC (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC09-89SR18035
- OSTI ID:
- 10191563
- Report Number(s):
- WSRC-TR-92-428; ON: DE93002693
- Resource Relation:
- Other Information: PBD: 20 Aug 1992
- Country of Publication:
- United States
- Language:
- English
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