Manipulator comparative testing program

Conference · Wed Jan 01 04:00:00 EST 1986 · Trans. Am. Nucl. Soc.; (United States)

OSTI ID:6946072

Draper, J V; Handel, S J; Sundstrom, E; Herndon, J N; Fujita, Y; Maida, M

The Manipulator Comparative Testing Program compared performance of selected manipulator systems under typical remote handling conditions. The site of testing was the Remote Operations and Maintenance Demonstration Facility operated by the Consolidated Fuel Reprocessing Program of the Oak Ridge National Laboratory. Three experiment examined differences among manipulator systems from the US and Japan. The manipulator systems included the Meidensha BILARM 83A, Central Research Laboratories' (CRL's) Model M-2, and GCA PaR systems Model 6000. Six manipulator and control mode combinations were evaluated: (a) the BILARM in master-slave mode without force reflection; (b) the BILARM in master-slave mode with force reflection; (c) the Model M-2 in master-slave mode without force reflection; (d) the Model M-2 in master-slave mode with force reflection; (e) the BILARM with switchbox controls; and (f) the PaR 6000 with switchbox controls. The experiments also examined differences between master-slave systems with and without force reflections, and differences between master-slave systems and switchbox-controlled systems.

• OSTI ID: 6946072
• Report Number(s): CONF-861102-
• Conference Information: Journal Name: Trans. Am. Nucl. Soc.; (United States) Journal Volume: 53
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
ASIA
COMPARATIVE EVALUATIONS
EQUIPMENT
JAPAN
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
NATIONAL ORGANIZATIONS
NORTH AMERICA
ORNL
REMOTE HANDLING EQUIPMENT
REPROCESSING
RESEARCH PROGRAMS
SEPARATION PROCESSES
TESTING
US AEC
US DOE
US ERDA
US ORGANIZATIONS
USA