Two-arm master/slave manipulator for nuclear facilities

Conference · Fri Jan 01 04:00:00 EST 1988 · Trans. Am. Nucl. Soc.; (United States)

OSTI ID:5783876

Tomizawa, F; Iwatsuka, N; Suzuki, M; Senoh, M; Sugiyama, S

Several kinds of one-arm manipulators have been developed for remote maintenance in nuclear facilities to reduce personnel radiation exposure and to keep plant availability as high as possible. In those maintenance tasks, however, there are many that need two arms, e.g., one arm holds the work object and the other arm cuts it with a plasma torch. To answer this need, a dexterous two-arm master/slave manipulator has been developed based on the technology for one-arm manipulators. A prototype two-arm/slave manipulator is shown. The specifications for master and slave manipulators are listed. The prototype two-arm manipulator is undergoing laboratory performance tests. Preliminary results showed the maximum static operating forces were 0.4 N for the all-direct drive (DD)-type arm and 1.1 N for the semi-DD type. The payload for each arm of the slave manipulator was confirmed as 10 kg/sub f/, using mock pieces. The decommissioning tasks of cutting pipes and steel plates were successfully carried out.

• OSTI ID: 5783876
• Report Number(s): CONF-881011-
• Conference Information: Journal Name: Trans. Am. Nucl. Soc.; (United States) Journal Volume: 57
• Country of Publication: United States
• Language: English

Related Subjects

054000* -- Nuclear Fuels-- Health & Safety
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
22 GENERAL STUDIES OF NUCLEAR REACTORS
220900 -- Nuclear Reactor Technology-- Reactor Safety
42 ENGINEERING
420203 -- Engineering-- Handling Equipment & Procedures
ALLOYS
CONTROL SYSTEMS
CUTTING TOOLS
DEGREES OF FREEDOM
EQUIPMENT
GRABS
IRON ALLOYS
IRON BASE ALLOYS
LABORATORY EQUIPMENT
MACHINE PARTS
MAINTENANCE
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MECHANICAL TRANSMISSIONS
NUCLEAR FACILITIES
PERFORMANCE
PIPES
PLATES
RADIATION PROTECTION
REMOTE HANDLING EQUIPMENT
STEELS
TOOLS