Design of Autonomous Robotic Manipulator for Maintenance of Nuclear Reactor En-Masse Coolant Channel Replacement Program

Abstract

Automation and robotics are integral parts of many industrial applications. Robotics in nuclear reactors are restricted and limited to specific applications. In recent technological developments, autonomous systems have become a fundamental requirement with widespread applications. This research addresses the application of robotics in a high nuclear reactor environment. The primary objective of the presented work is to develop autonomous robotics systems for nuclear reactor maintenance. The research is focused on designing and implementing autonomous robotic systems for pressurized heavy water reactor maintenance, especially for the En-Masse Coolant channel replacement program. The paper includes current nuclear reactor maintenance challenges and suggests an autonomous robotic manipulator design. The design will be integrated with current systems for autonomous nuclear reactor maintenance. This design will also help to develop inherently safe small modular reactor (SMR) systems.