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진재현,박병석,고병승,윤지섭,정기정,Jin Jaehyun,Park Byungsuk,Ko Byungseung,Yoon Jisup,Jung Ki-Jung Korean Radioactive Waste Society 2005 방사성폐기물학회지 Vol.3 No.3
In this paper, a prototype of the Bridge-Transported Servo Manipulator (BTSM) system is introduced, which has been developed to do operation and maintenance jobs remotely in a hot cell. The system consists of a telescopic transporter, a slave arm, a master arm, and a control system. Several tests such as a positional tracking, a weight handling, reliability, and operability have been performed and test results are presented. Based on the test results, an upgraded system which will be used during demonstrations of the advanced spent fuel conditioning process (ACP) has been designed.