Advanced servomanipulator remote maintenance demonstration
The Fuel Recycle Division (FRD) of the Oak Ridge National Laboratory (ORNL) is developing remote maintenance systems for the Consolidated Fuel Reprocessing Program for applications in future nuclear fuel cycle facilities. The most recent development is the advanced servomanipulator (ASM), a digitally controlled, force-reflecting, dual-arm, master/slave servomanipulator. A unique feature of ASM is that the slave arms are remotely maintainable. The ASM slave arms are composed of modules, each of which is capable of being removed and replaced by another manipulator system. The intent of this test was to demonstrate that the ASM slave arms could be completely disassembled and reassembled remotely. This remote maintenance demonstration was performed using the Remote Operations and Maintenance Demonstration (ROMD) facility model M-2 servomanipulator maintenance system. Maintenance of ASM was successfully demonstrated using the M-2 servomanipulator and special fixtures. Recommendations, generally applicable to other remotely maintained equipment, have been made for maintainability improvements. 3 refs., 5 figs.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 6519247
- Report Number(s):
- CONF-890304-3; ON: DE89001155
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
42 ENGINEERING
420203 -- Engineering-- Handling Equipment & Procedures
CONSOLIDATED FUEL REPROCESSING PROGRAM
CONTROL EQUIPMENT
COORDINATED RESEARCH PROGRAMS
EQUIPMENT
FASTENERS
FUEL REPROCESSING PLANTS
LABORATORY EQUIPMENT
MAINTENANCE
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
NUCLEAR FACILITIES
RECOMMENDATIONS
REMOTE HANDLING EQUIPMENT
RESEARCH PROGRAMS
SERVOMECHANISMS