Performance evaluation of the Oak Ridge National Laboratory's advanced servomanipulator
The Consolidated Fuel Reprocessing Program (CFRP) at the Oak Ridge National Laboratory (ORNL) is developing technology for future nuclear fuel reprocessing facilities. This responsibility includes developing advanced telerobotic systems for repair and maintenance of such facilities. In response to a requirement for a highly reliable, remotely maintainable manipulator system, CFRP designed and built the advanced servomanipulator (ASM). This paper reports results of a recent comparison of ASM's performance to that of another highly dexterous manipulator, the Sargeant Industries/Central Research Laboratory's (CRL's) model M-2. Operators using ASM were able to complete tasks in about the same amount of time required to complete tasks with the CRL M-2. 13 refs., 5 figs., 2 tabs.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 6428654
- Report Number(s):
- CONF-890304-4; ON: DE89001352
- Country of Publication:
- United States
- Language:
- English
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11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
42 ENGINEERING
420203 -- Engineering-- Handling Equipment & Procedures
CONSOLIDATED FUEL REPROCESSING PROGRAM
CONTROL EQUIPMENT
COORDINATED RESEARCH PROGRAMS
EQUIPMENT
FUEL REPROCESSING PLANTS
LABORATORY EQUIPMENT
MAINTENANCE
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
NUCLEAR FACILITIES
PERFORMANCE TESTING
REMOTE HANDLING EQUIPMENT
RESEARCH PROGRAMS
ROBOTS
SERVOMECHANISMS
TESTING