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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1154-1158
Number of pages5
ISBN (Electronic)9788993215090
DOIs
Publication statusPublished - 2015 Dec 23
Event15th International Conference on Control, Automation and Systems, ICCAS 2015 - Busan, Korea, Republic of
Duration: 2015 Oct 132015 Oct 16

Publication series

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

Other

Other15th International Conference on Control, Automation and Systems, ICCAS 2015
CountryKorea, Republic of
CityBusan
Period15/10/1315/10/16

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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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