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Title: Manipulator comparative testing program

The Manipulator Comparative Testing Program examined differences among manipulator systems from the United States and Japan. The manipulator systems included the Meidensha BILARM 83A, the Model M-2 of Central Research Laboratories Division of Sargent Industries (CRL), and the GCA Corporation PaR Systems Model 6000. The site of testing was the Remote Operations Maintenance Demonstration (ROMD) facility, operated by the Fuel Recycle Division in the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory (ORNL). In all stages of testing, operators using the CRL Model M-2 manipulator had consistently lower times to completion and error rates than they did using other machines. Performance was second best with the Meidensha BILARM 83A in master-slave mode. Performance with the BILARM in switchbox mode and the PaR 6000 manipulator was approximately equivalent in terms of criteria recorded in testing. These data show no impact of force reflection on task performance.
Authors:
; ; ; ; ;
Publication Date:
OSTI Identifier:
5055573
Report Number(s):
CONF-861102-23
ON: DE87000358
DOE Contract Number:
AC05-84OR21400
Resource Type:
Conference
Resource Relation:
Conference: American Nuclear Society and Atomic Industrial Forum joint meeting, Washington, DC, USA, 16 Nov 1986; Other Information: Portions of this document are illegible in microfiche products
Research Org:
Oak Ridge National Lab., TN (USA); Power Reactor and Nuclear Fuel Development Corp., Tokai, Ibaraki (Japan). Tokai Works
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; 11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS; MANIPULATORS; COMPARATIVE EVALUATIONS; EQUIPMENT; LABORATORY EQUIPMENT; MATERIALS HANDLING EQUIPMENT; REMOTE HANDLING EQUIPMENT 420203* -- Engineering-- Handling Equipment & Procedures; 050800 -- Nuclear Fuels-- Spent Fuels Reprocessing