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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 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
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.