Adaptation of a robot and tools for dismantling of a gas-cooled reactor
This report describes research into the use of commercially available industrial manipulator systems and cutting tools in a nuclear environment, particularly during the decommissioning of a gas-cooled reactor. These can be used in place of expensive purpose-built machines if techniques can be developed for their use in an environment that is more operator-sensitive, for their decontamination and to increase their radiation tolerance. A survey has been conducted into the types of industrial robot currently available and into the available control systems for manipulators. From studying the specifications of a nuclear manipulator it has been possible to make some observations about a suitable design. A study of the industrial control system has highlighted the capabilities and limitations of the hired unit; from this it has been possible to specify a number of constraints that will have to be placed on the features of the control system. A survey has been conducted into available hand-held tooling to define the most applicable equipment for decommissioning operations. The feasibility of a remote tool change capability for the tools highlighted in the above survey has been investigated, together with the additional peripheral systems that can be interfaced with the hired control unit to determine the full potential of the system.
Bibliographic Reference: EUR 12186 EN (1989) FS, 60 pp., ECU 6.25
ISBN: ISBN 92-826-0674-0;CD-NA-
Record Number: 198911128 / Last updated on: 1994-12-01
Original language: en
Available languages: en