skip to main content
OSTI.GOV title logo U.S. Department of Energy
Office of Scientific and Technical Information

Title: Advanced servomanipulator remote maintenance demonstration

Abstract

The advanced servomanipulator (ASM) is a dual-arm, force-reflecting, master/slave servomanipulator that was designed for remote maintenance applications and is digitally controlled. The ASM is installed in the Maintenance Systems Test Area (MSTA) of the Fuel Recycle Division at the Oak Ridge National Laboratory. The unique aspect of ASM is that the slave arms were designed to be remotely maintainable, using a similar remote manipulator system, to maximize availability and minimize downtime. This test report describes the results of the maintenance testing conducted on ASM. Demonstration of the ability to maintain ASM remotely is an important precursor to the ultimate application of ASM in a totally remote facility. The approach taken in the design of ASM was for the manipulator slave arms to be composed of modules capable of being removed and replaced by another manipulator system of similar capabilities. The ASM incorporates gear and torque tube drives with drive couplings that facilitate remote maintenance. Although the use of special fixtures is normally discouraged for remote maintenance, special fixtures were required for this demonstration due to the complex nature of the slave arms. This test was performed to demonstrate that the ASM slave arms could be completely disassembled and reassembled remotely.more » Maintenance of ASM was successfully demonstrated using the M-2 servomanipulator and special fixtures. The entire disassembly process took about 4 h, and the assembly took about 3 1/2 h. Although there were some problems, in general, the arm modules were adequately designed for remote removal and replacement. Recommendations, which are documented in this report, have been made for improvements. 5 refs., 22 figs., 1 tab.« less

Authors:
;
Publication Date:
Research Org.:
Oak Ridge National Lab., TN (USA)
OSTI Identifier:
6348725
Report Number(s):
ORNL/TM-10847
ON: DE89010188
DOE Contract Number:
AC05-84OR21400
Resource Type:
Technical Report
Resource Relation:
Other Information: Portions of this document are illegible in microfiche products
Country of Publication:
United States
Language:
English
Subject:
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS; 42 ENGINEERING; FUEL REPROCESSING PLANTS; REMOTE HANDLING EQUIPMENT; MANIPULATORS; SERVOMECHANISMS; MAINTENANCE; PERFORMANCE TESTING; RECOMMENDATIONS; CONTROL EQUIPMENT; EQUIPMENT; LABORATORY EQUIPMENT; MATERIALS HANDLING EQUIPMENT; NUCLEAR FACILITIES; TESTING; 050800* - Nuclear Fuels- Spent Fuels Reprocessing; 420203 - Engineering- Handling Equipment & Procedures

Citation Formats

Ray, T.L., and Bradley, E.C. Advanced servomanipulator remote maintenance demonstration. United States: N. p., 1989. Web.
Ray, T.L., & Bradley, E.C. Advanced servomanipulator remote maintenance demonstration. United States.
Ray, T.L., and Bradley, E.C. Wed . "Advanced servomanipulator remote maintenance demonstration". United States. doi:.
@article{osti_6348725,
title = {Advanced servomanipulator remote maintenance demonstration},
author = {Ray, T.L. and Bradley, E.C.},
abstractNote = {The advanced servomanipulator (ASM) is a dual-arm, force-reflecting, master/slave servomanipulator that was designed for remote maintenance applications and is digitally controlled. The ASM is installed in the Maintenance Systems Test Area (MSTA) of the Fuel Recycle Division at the Oak Ridge National Laboratory. The unique aspect of ASM is that the slave arms were designed to be remotely maintainable, using a similar remote manipulator system, to maximize availability and minimize downtime. This test report describes the results of the maintenance testing conducted on ASM. Demonstration of the ability to maintain ASM remotely is an important precursor to the ultimate application of ASM in a totally remote facility. The approach taken in the design of ASM was for the manipulator slave arms to be composed of modules capable of being removed and replaced by another manipulator system of similar capabilities. The ASM incorporates gear and torque tube drives with drive couplings that facilitate remote maintenance. Although the use of special fixtures is normally discouraged for remote maintenance, special fixtures were required for this demonstration due to the complex nature of the slave arms. This test was performed to demonstrate that the ASM slave arms could be completely disassembled and reassembled remotely. Maintenance of ASM was successfully demonstrated using the M-2 servomanipulator and special fixtures. The entire disassembly process took about 4 h, and the assembly took about 3 1/2 h. Although there were some problems, in general, the arm modules were adequately designed for remote removal and replacement. Recommendations, which are documented in this report, have been made for improvements. 5 refs., 22 figs., 1 tab.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Wed Mar 01 00:00:00 EST 1989},
month = {Wed Mar 01 00:00:00 EST 1989}
}

Technical Report:
Other availability
Please see Document Availability for additional information on obtaining the full-text document. Library patrons may search WorldCat to identify libraries that may hold this item. Keep in mind that many technical reports are not cataloged in WorldCat.

Save / Share: