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Title: Control of a long reach manipulator with suspension cables for waste storage tank remediation. Final report

A long reach manipulator will be used for waste remediation in large underground storage tanks. The manipulator`s slenderness makes it flexible and difficult to control. A low-cost and effective method to enhance the manipulator`s stiffness is proposed in this research by using suspension cables. These cables can also be used to accurately measure the position of the manipulator`s wrist.
Authors:
Publication Date:
OSTI Identifier:
179213
Report Number(s):
DOE/OR/00033--T659
ON: DE96005148; TRN: AHC29603%%38
DOE Contract Number:
AC05-76OR00033
Resource Type:
Technical Report
Resource Relation:
Other Information: PBD: 30 Dec 1994
Research Org:
North Carolina Agricultural and Technical State Univ., Greensboro, NC (United States). Dept. of Mechanical Engineering
Sponsoring Org:
USDOE, Washington, DC (United States);Nuclear Regulatory Commission, Washington, DC (United States)
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; 05 NUCLEAR FUELS; STORAGE FACILITIES; REMEDIAL ACTION; WASTE RETRIEVAL; MANIPULATORS; DESIGN; CONTROL; RETRIEVAL SYSTEMS; HANFORD RESERVATION; PROGRESS REPORT; RADIOACTIVE WASTE STORAGE; POSITIONING; CONTROL EQUIPMENT; FLEXIBILITY; SLUDGES; RADIOACTIVE WASTES; DEGREES OF FREEDOM