Review

  • Journal of Nuclear Fuel Cycle and Waste Technology
  • Volume 3(3); 2005
  • Article

Journal of Nuclear Fuel Cycle and Waste Technology 2005;3(3):257-268. Published online: Sep, 30, 2005

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Development and Performance Tests of the Bridge-Transported Servo Manipulator System for Remote Maintenance Jobs in a Hotcell

  • Jaehyun Jin ; Byungsuk Park ; Byungseung Ko ; Jisup Yoon ; Ki-Jung Jung
Abstract

In this paper, a prototype of the Bridge-Transported Servo Manipulator (BTSM) system is introduced, which has been developed to do operation and maintenance jobs remotely in a hot cell. The system consists of a telescopic transporter, a slave arm, a master arm, and a control system. Several tests such as a positional tracking, a weight handling, reliability, and operability have been performed and test results are presented. Based on the test results, an upgraded system which will be used during demonstrations of the advanced spent fuel conditioning process (ACP) has been designed.

Keywords

Teleoperation,Servo manipulator,Remote maintenance,Performances tests,ACP