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 | |
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 |
Bibliographical note
Publisher Copyright:© 2015 Institute of Control, Robotics and Systems - ICROS.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering