Design of a heavy-duty manipulator for dismantling of a nuclear power plant

Chnag Hoi Kim; Yong Chil Seo; Sung Uk Lee; Byung Seon Choi; Jei Kwon Moon

doi:10.1109/ICCAS.2015.7364801

Design of a heavy-duty manipulator for dismantling of a nuclear power plant

Chnag Hoi Kim, Yong Chil Seo, Sung Uk Lee, Byung Seon Choi, Jei Kwon Moon

Division of Environmental Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

Some of the nuclear power plants in Korea have reached their end of life-cycle, and the importance of developing dismantling techniques has been emphasized. We designed a manipulator for decommissioning a reactor pressure vessel. We analyzed the work environment for disassembly and the workspace of the manipulator, and verified the validity of kinematic variables through a kinematic simulation. We verified through a dynamics simulation that each joint of the designed manipulator can be operated within the maximally allowed torque despite a load of 250 kg. Finally, we verified through the stress analysis that the manipulator is designed to secure at least two times higher safety factor.

Original language	English
Title of host publication	ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1154-1158
Number of pages	5
ISBN (Electronic)	9788993215090
DOIs	https://doi.org/10.1109/ICCAS.2015.7364801
Publication status	Published - 2015 Dec 23
Event	15th International Conference on Control, Automation and Systems, ICCAS 2015 - Busan, Korea, Republic of Duration: 2015 Oct 13 → 2015 Oct 16

Publication series

Name	ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings

Other

Other	15th International Conference on Control, Automation and Systems, ICCAS 2015
Country	Korea, Republic of
City	Busan
Period	15/10/13 → 15/10/16

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

Access to Document

10.1109/ICCAS.2015.7364801

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Kim, C. H., Seo, Y. C., Lee, S. U., Choi, B. S., & Moon, J. K. (2015). Design of a heavy-duty manipulator for dismantling of a nuclear power plant. In ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings (pp. 1154-1158). [7364801] (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCAS.2015.7364801

Kim, Chnag Hoi ; Seo, Yong Chil ; Lee, Sung Uk ; Choi, Byung Seon ; Moon, Jei Kwon. / Design of a heavy-duty manipulator for dismantling of a nuclear power plant. ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1154-1158 (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings).

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abstract = "Some of the nuclear power plants in Korea have reached their end of life-cycle, and the importance of developing dismantling techniques has been emphasized. We designed a manipulator for decommissioning a reactor pressure vessel. We analyzed the work environment for disassembly and the workspace of the manipulator, and verified the validity of kinematic variables through a kinematic simulation. We verified through a dynamics simulation that each joint of the designed manipulator can be operated within the maximally allowed torque despite a load of 250 kg. Finally, we verified through the stress analysis that the manipulator is designed to secure at least two times higher safety factor.",

author = "Kim, {Chnag Hoi} and Seo, {Yong Chil} and Lee, {Sung Uk} and Choi, {Byung Seon} and Moon, {Jei Kwon}",

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Kim, CH, Seo, YC, Lee, SU, Choi, BS & Moon, JK 2015, Design of a heavy-duty manipulator for dismantling of a nuclear power plant. in ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings., 7364801, ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 1154-1158, 15th International Conference on Control, Automation and Systems, ICCAS 2015, Busan, Korea, Republic of, 15/10/13. https://doi.org/10.1109/ICCAS.2015.7364801

Design of a heavy-duty manipulator for dismantling of a nuclear power plant. / Kim, Chnag Hoi; Seo, Yong Chil; Lee, Sung Uk; Choi, Byung Seon; Moon, Jei Kwon.

ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1154-1158 7364801 (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - Some of the nuclear power plants in Korea have reached their end of life-cycle, and the importance of developing dismantling techniques has been emphasized. We designed a manipulator for decommissioning a reactor pressure vessel. We analyzed the work environment for disassembly and the workspace of the manipulator, and verified the validity of kinematic variables through a kinematic simulation. We verified through a dynamics simulation that each joint of the designed manipulator can be operated within the maximally allowed torque despite a load of 250 kg. Finally, we verified through the stress analysis that the manipulator is designed to secure at least two times higher safety factor.

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Kim CH, Seo YC, Lee SU, Choi BS, Moon JK. Design of a heavy-duty manipulator for dismantling of a nuclear power plant. In ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1154-1158. 7364801. (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings). https://doi.org/10.1109/ICCAS.2015.7364801