Robotic requirements for plutonium handling automation

Abstract

The difficulties of applying robotics to the glovebox environment include limited access for service and maintenance, radiation damage to electronics and insulators, and abrasion damage to bearings and sliding surfaces. The limited volume of the glovebox environment, the need to handle heavy workloads, and the need to maximize work volume dictates the use of an overhead gantry system. The application of such a system will require a robot with extensive safety features, a high-degree of flexibility to perform a variety of tasks, and high-reliability coupled with an easily serviced design. Substantial challenges exist in control system design, sensor and operator integration, and programming to achieve these goals.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>