Development of Telerobotic Systems for Reactor Decommissioning, (I). Prototype Light-Duty System.

摘要

This paper describes the prototype light-duty telerobotic system constructed as a cold test facility in the program of developing technology for robotic handling systems to be used for decommissioning of nuclear reactors. The total system consists of a multi-functional, electric manipulator system, a transporter system of telescopic boom type, a monitoring system comprising several TV monitors and a computer-assisted control system for overall system operation. The slave manipulator has a load capacity of 10 daN and can be used both in air and in water. Various tests such as basic performance test and remote operability test have been performed to point out the possibilities of further technological improvement of the system performance. Valuable experiences for developing subsequent systems have been acquired through designing, constructing and testing the system.