Riser configuration, Tank 241-A-105, light duty utility arm
The light-duty utility arm (LDUA) is a seven-joint stainless steel robotic arm with a payload capacity of 75 lb. The robotic arm is deployed vertically with a maximum vertical reach of 63 ft. and a maximum horizontal reach of 13.5 ft. The functional requirements of the LDUA system are mapping and characterization of waste in Hanford single-shell tanks (SST) before and during waste retrieval. The LDUA system consists of a mobile deployment system (MDS), a vertical positioning mast (VPM), a tank riser interface confinement (TRIC), the LDUA, and a controller subsystem or support trailer. Currently, the system is in design and is subject to change; however, the LDUA or robotic arm will be deployed through a 12-in. riser above the tank dome. Field trips were performed to gather specifics for future deployment of the LDUA in Tank 241-A-105. The purpose of this report is to support two previous reports for the investigation of SSTs for deployment of the LDUA system. The first report identified the availability of risers while the second report identified the availability of Tanks 241-A-105, 241-A-S-109, 241-A-T-101, and 241-A-T-109 for deployment of the LDUA system. The second report also identified those 4- and 12-in. risers that could be used for deployment of the LDUA and camera system. This report addresses accessibility to the 241-A Tank Farm and the usability of the Tank 241-A-105 risers. The following information for assisting in the design and deployment of the LDUA will be discussed in this report: radiation survey; flange identification; high resolution video; computer simulated model; and field survey.
- Research Organization:
- Westinghouse Hanford Co., Richland, WA (United States); Kaiser Engineers Hanford Co., Richland, WA (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC06-87RL10930; AC06-93RL12359
- OSTI ID:
- 10185202
- Report Number(s):
- WHC-SD-WM-ER-377; ON: DE95000308; BR: 35AF11201/35AF11202; TRN: 94:020220
- Resource Relation:
- Other Information: PBD: 8 Sep 1994
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES
HANFORD RESERVATION
RADIOACTIVE WASTE FACILITIES
REMEDIAL ACTION
SITE CHARACTERIZATION
ROBOTS
DESIGN
TANKS
WASTE RETRIEVAL
PLANNING
ENGINEERING DRAWINGS
420203
054000
052002
HANDLING EQUIPMENT AND PROCEDURES
HEALTH AND SAFETY
WASTE DISPOSAL AND STORAGE