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Title: Robotic arm

Abstract

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.

Inventors:
 [1]
  1. (Lake Bluff, IL)
Publication Date:
OSTI Identifier:
866921
Patent Number(s):
US 4822238
Application Number:
07/097,264
Assignee:
Westinghouse Electric Corp. (Pittsburgh, PA) OSTI
DOE Contract Number:  
AX681866
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
robotic; arm; positionable; nuclear; vessel; access; diameter; mounting; tube; supported; plurality; sections; movement; lengthwise; window; provided; wall; effector; grinding; head; welding; element; operating; located; operated; derived; six; axes; motion; drive; connections; movements; achieved; operation; remotely-controllable; servo; motors; mounted; control; outside; mounting tube; robotic arm; tube support; /414/376/901/976/

Citation Formats

Kwech, Horst. Robotic arm. United States: N. p., 1989. Web.
Kwech, Horst. Robotic arm. United States.
Kwech, Horst. Tue . "Robotic arm". United States. doi:. https://www.osti.gov/servlets/purl/866921.
@article{osti_866921,
title = {Robotic arm},
author = {Kwech, Horst},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Tue Apr 18 00:00:00 EDT 1989},
month = {Tue Apr 18 00:00:00 EDT 1989}
}

Patent:

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