그래픽 전산모사를 이용한 핫셀 사각지역 내 장치부품 유지보수공정 개발

Development of the Maintenance Process Based on Graphic Simulation for the Parts of the Equipment at the outside of the MSM′s Workspace in a Hot Cell

Jong-Youl Lee, Seong-Hyun Kim, Tae-Gil Song, Byung-Suk Park, Ji-Sup Yoon

Abstract

In this study, the maintenance process by the servo manipulator has been developed for the parts of the equipment, which we unable to reach out by the Master-Slave Manipulator(MSM) in a hot cell. To do this, a virtual mock-up is implemented using the iか prototyping technology. Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass have been analyzed. In addition, the path planning of the servo manipulator using the collision detection function of the virtual mock-up has been established. From these, the maintenance process for the parts of the equipment, which are located at the outside of the MSM's workspace using the servo manipulator has been proposed and verified through the graphic simulation. It is revealed that the proposed remote maintenance process of the equipment can effectively be used in the real hot cell operation. It is also believed that the implemented virtual mock-up of the hot cell can effectively be applied in analyzing the various hot cell operation and enhancing the reliability and safety in a hot cell remote handling for the spent fuel management.

Key Words : Hot cell, Remote Handling, Master-Slave Manipulator, Servo manipulator, Virtual Mock-up, Graphic Simulation, 핫셀, 원격 취급, 마스터-슬레이브 원격조종기, 서보 원격조종기, 가상 목업, 그래픽 전산모사

Reference

JNFCWT

Online Submission

Korean Radioactive
Waste Society (KRS)

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