Advanced remotely maintainable force-reflecting servomanipulator concept

Conference · Sun Jan 01 00:00:00 EST 1984

OSTI ID:6512147

Kuban, D P; Martin, H L

A remotely maintainable force-reflecting servomanipulator concept is being developed at the Oak Ridge National Laboratory as part of the Consolidated Fuel Reprocessing Program. This new manipulator addresses requirements of advanced nuclear fuel reprocessing with emphasis on force reflection, remote maintainability, reliability, radiation tolerance, and corrosion resistance. The advanced servomanipulator is uniquely subdivided into remotely replaceable modules which will permit in situ manipulator repair by spare module replacement. Manipulator modularization and increased reliability are accomplished through a force transmission system that uses gears and torque tubes. Digital control algorithms and mechanical precision are used to offset the increased backlash, friction, and inertia resulting from the gear drives. This results in the first remotely maintainable force-reflecting servomanipulator in the world. 10 references, 4 figures, 1 table.

• Research Organization: Oak Ridge National Lab., TN (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6512147
• Report Number(s): CONF-840793-1; ON: DE85001902
• Resource Relation: Conference: USDOE/ORNL/PNC national topical meeting on robotics and remote handling in hostile environments, Tokyo, Japan, 24 Jul 1984; Other Information: Portions are illegible in microfiche products
• Country of Publication: United States
• Language: English

Related Subjects

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
42 ENGINEERING
FUEL REPROCESSING PLANTS
MAINTENANCE
MANIPULATORS
DESIGN
SERVOMECHANISMS
CONSOLIDATED FUEL REPROCESSING PROGRAM
REMOTE HANDLING
CONTROL EQUIPMENT
COORDINATED RESEARCH PROGRAMS
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
NUCLEAR FACILITIES
REMOTE HANDLING EQUIPMENT
RESEARCH PROGRAMS
050800* - Nuclear Fuels- Spent Fuels Reprocessing
420203 - Engineering- Handling Equipment & Procedures