Advanced remotely maintainable force-reflecting servomanipulator concept

Conference · Sat Dec 31 23:00:00 EST 1983

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
• Country of Publication: United States
• Language: English

Related Subjects

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