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Title: Two-arm master/slave manipulator for nuclear facilities

Abstract

Several kinds of one-arm manipulators have been developed for remote maintenance in nuclear facilities to reduce personnel radiation exposure and to keep plant availability as high as possible. In those maintenance tasks, however, there are many that need two arms, e.g., one arm holds the work object and the other arm cuts it with a plasma torch. To answer this need, a dexterous two-arm master/slave manipulator has been developed based on the technology for one-arm manipulators. A prototype two-arm/slave manipulator is shown. The specifications for master and slave manipulators are listed. The prototype two-arm manipulator is undergoing laboratory performance tests. Preliminary results showed the maximum static operating forces were 0.4 N for the all-direct drive (DD)-type arm and 1.1 N for the semi-DD type. The payload for each arm of the slave manipulator was confirmed as 10 kg/sub f/, using mock pieces. The decommissioning tasks of cutting pipes and steel plates were successfully carried out.

Authors:
; ; ; ;
Publication Date:
OSTI Identifier:
5783876
Report Number(s):
CONF-881011-
Journal ID: CODEN: TANSA
Resource Type:
Conference
Journal Name:
Trans. Am. Nucl. Soc.; (United States)
Additional Journal Information:
Journal Volume: 57; Conference: Joint meeting of the European Nuclear Society and the American Nuclear Society, Washington, DC, USA, 30 Oct - 4 Nov 1988
Country of Publication:
United States
Language:
English
Subject:
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS; 22 GENERAL STUDIES OF NUCLEAR REACTORS; 42 ENGINEERING; MANIPULATORS; PERFORMANCE; NUCLEAR FACILITIES; RADIATION PROTECTION; CONTROL SYSTEMS; CUTTING TOOLS; DEGREES OF FREEDOM; GRABS; MAINTENANCE; MECHANICAL TRANSMISSIONS; PIPES; PLATES; REMOTE HANDLING EQUIPMENT; STEELS; ALLOYS; EQUIPMENT; IRON ALLOYS; IRON BASE ALLOYS; LABORATORY EQUIPMENT; MACHINE PARTS; MATERIALS HANDLING EQUIPMENT; TOOLS; 054000* - Nuclear Fuels- Health & Safety; 220900 - Nuclear Reactor Technology- Reactor Safety; 420203 - Engineering- Handling Equipment & Procedures

Citation Formats

Tomizawa, F, Iwatsuka, N, Suzuki, M, Senoh, M, and Sugiyama, S. Two-arm master/slave manipulator for nuclear facilities. United States: N. p., 1988. Web.
Tomizawa, F, Iwatsuka, N, Suzuki, M, Senoh, M, & Sugiyama, S. Two-arm master/slave manipulator for nuclear facilities. United States.
Tomizawa, F, Iwatsuka, N, Suzuki, M, Senoh, M, and Sugiyama, S. 1988. "Two-arm master/slave manipulator for nuclear facilities". United States.
@article{osti_5783876,
title = {Two-arm master/slave manipulator for nuclear facilities},
author = {Tomizawa, F and Iwatsuka, N and Suzuki, M and Senoh, M and Sugiyama, S},
abstractNote = {Several kinds of one-arm manipulators have been developed for remote maintenance in nuclear facilities to reduce personnel radiation exposure and to keep plant availability as high as possible. In those maintenance tasks, however, there are many that need two arms, e.g., one arm holds the work object and the other arm cuts it with a plasma torch. To answer this need, a dexterous two-arm master/slave manipulator has been developed based on the technology for one-arm manipulators. A prototype two-arm/slave manipulator is shown. The specifications for master and slave manipulators are listed. The prototype two-arm manipulator is undergoing laboratory performance tests. Preliminary results showed the maximum static operating forces were 0.4 N for the all-direct drive (DD)-type arm and 1.1 N for the semi-DD type. The payload for each arm of the slave manipulator was confirmed as 10 kg/sub f/, using mock pieces. The decommissioning tasks of cutting pipes and steel plates were successfully carried out.},
doi = {},
url = {https://www.osti.gov/biblio/5783876}, journal = {Trans. Am. Nucl. Soc.; (United States)},
number = ,
volume = 57,
place = {United States},
year = {Fri Jan 01 00:00:00 EST 1988},
month = {Fri Jan 01 00:00:00 EST 1988}
}

Conference:
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