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ISSN : 1738-1894(Print)
ISSN : 2288-5471(Online)
ISSN : 2288-5471(Online)
사용후핵연료 차세대관리 공정장치 유지보수용 천정이동 서보 매니퓰레이터 와이어 구동부 동작특성
Transmission Characteristics on Wire-Driven Links of a Bridge Transported Servo Manipulator for the ACP Equipment Maintenance
Abstract
A bridge transported servo manipulator (BTSM) system for the advanced spent fuel conditioning process (ACP) has been developed to overcome the limitation of access, which is a drawback of mechanical master-slave manipulators (MSM) for the equipment maintenance. The servo manipulator is composed of a slave manipulator attached to the telescoping tubesets equipped with the overhead bridge installed at a hot cell and a master manipulator installed at an out-of-hot cell. Each manipulator has 7 degrees-of-freedom (DOF): a body rotation, an upper-arm tilt, a lower-arm tilt, a lower-arm rotation, a wrist pan & tilt, and a grasp motion. A wire-driven mechanism for a lower-arm rotation, a wrist pan and tilt, and a grasp motion of the manipulator has been adopted to increase the handling capacity compared to the manipulator weight and decrease the friction. The main disadvantage of the wire-driven mechanism is that if one link is in motion, other links can be affected. In this paper, the transmission characteristics among the wire-driven links have been formulated to overcome this drawback. The unexpected behaviors are confirmed by analyses of transmission characteristics as well as experiments. Also, the experimental results show that the unexpected behaviors are greatly decreased by the proposed compensation equations.
ACP, MSM, Bridge transported, Servo manipulator, Wire-driven, Equipment maintenance, 차세대관리공정, 마스터-슬레이브 매니퓰레이터, 천정이동, 서보 매니퓰레이터, 와이어 구동, 공정장치 유지보수
Reference
JNFCWT
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Korean Radioactive
Waste Society (KRS)
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