Robotic arm

Patent · Tue Apr 18 04:00:00 EDT 1989

OSTI ID:866921

Kwech, Horst ^[1]

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1. Lake Bluff, IL

A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

• Assignee: Westinghouse Electric Corp. (Pittsburgh, PA)
• Patent Number(s): US 4822238
• Application Number: 07/097,264
• OSTI ID: 866921
• Country of Publication: United States
• Language: English

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/414/376/901/976/
access
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arm
axes
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derived
diameter
drive
effector
element
grinding
head
lengthwise
located
motion
motors
mounted
mounting
mounting tube
movement
movements
nuclear
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outside
plurality
positionable
provided
remotely-controllable
robotic
robotic arm
sections
servo
six
supported
tube
tube support
vessel
wall
welding
window