Welding Robot and Remote Handling System for the Yucca Mountain Waste Package Closure System
- PaR Systems, Inc., Shoreview, MN (United States)
- Battelle Energy Alliance, LLC/Idaho National Laboratory, Idaho Falls, ID (United States)
In preparation for the license application and construction of a repository for housing the nation's spent nuclear fuel and high-level waste in Yucca Mountain, the Idaho National Laboratory (INL) has been charged with preparing a mock-up of a full-scale prototype system for sealing the waste packages (WP). Three critical pieces of the closure room include two PaR Systems TR4350 Telerobotic Manipulators and a PaR Systems XR100 Remote Handling System (RHS). The TR4350 Manipulators are 6-axis programmable robots that will be used to weld the WP lids and purge port cap as well as conduct nondestructive examinations. The XR100 Remote Handling System is a 4-axis programmable robot that will be used to transport the WP lids and process tools to the WP for operations and remove equipment for maintenance. The welding and RHS robots will be controlled using separate PaR 5/21 CIMROC Controllers capable of complex motion control tasks. A tele-operated PaR 4350 Manipulator will also be provided with the XR100 Remote Handling System. It will be used for maintenance and associated activities within the closure room. (authors)
- Research Organization:
- WM Symposia, 1628 E. Southern Avenue, Suite 9 - 332, Tempe, AZ 85282 (United States)
- OSTI ID:
- 21326139
- Report Number(s):
- INIS-US-10-WM-08372; TRN: US10V0568067504
- Resource Relation:
- Conference: WM'08: Waste Management Symposium 2008 - HLW, TRU, LLW/ILW, Mixed, Hazardous Wastes and Environmental Management - Phoenix Rising: Moving Forward in Waste Management, Phoenix, AZ (United States), 24-28 Feb 2008; Other Information: Country of input: France; 1 ref
- Country of Publication:
- United States
- Language:
- English
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