Remote handling facility and equipment used for space truss assembly

Conference · Thu Jan 01 00:00:00 EST 1987

OSTI ID:6502172

Burgess, T W

The ACCESS truss remote handling experiments were performed at Oak Ridge National Laboratory's (ORNL's) Remote Operation and Maintenance Demonstration (ROMD) facility. The ROMD facility has been developed by the US Department of Energy's (DOE's) Consolidated Fuel Reprocessing Program to develop and demonstrate remote maintenance techniques for advanced nuclear fuel reprocessing equipment and other programs of national interest. The facility is a large-volume, high-bay area that encloses a complete, technologically advanced remote maintenance system that first began operation in FY 1982. The maintenance system consists of a full complement of teleoperated manipulators, manipulator transport systems, and overhead hoists that provide the capability of performing a large variety of remote handling tasks. This system has been used to demonstrate remote manipulation techniques for the DOE, the Power Reactor and Nuclear Fuel Development Corporation (PNC) of Japan, and the US Navy in addition to the National Aeronautics and Space Administration. ACCESS truss remote assembly was performed in the ROMD facility using the Central Research Laboratory's (CRL) model M-2 servomanipulator. The model M-2 is a dual-arm, bilateral force-reflecting, master/slave servomanipulator which was jointly developed by CRL and ORNL and represents the state of the art in teleoperated manipulators commercially available in the United States today. The model M-2 servomanipulator incorporates a distributed, microprocessor-based digital control system and was the first successful implementation of an entirely digitally controlled servomanipulator. The system has been in operation since FY 1983. 3 refs., 2 figs.

• Research Organization: Oak Ridge National Lab., TN (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6502172
• Report Number(s): CONF-870591-3; ON: DE87009121
• Resource Relation: Conference: Goddard conference on space applications of artificial intelligence and robotics, Greenbelt, MD, USA, 14 May 1987
• Country of Publication: United States
• Language: English

Related Subjects

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
FUEL REPROCESSING PLANTS
REMOTE HANDLING EQUIPMENT
DEMONSTRATION PLANTS
MAINTENANCE
MANIPULATORS
REMOTE CONTROL
REMOTE HANDLING
CONTROL
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
NUCLEAR FACILITIES
050800* - Nuclear Fuels- Spent Fuels Reprocessing