Title: A Crane-Based Robotic-Device for Operating inside Storage Cells
Authors: CORNELLA JordiPUIG ALCORIZA DavidSEQUEIRA Vitor
Citation: IEEE TRANSACTIONS ON ROBOTICS vol. 28 no. 4 p. 911-921
Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Publication Year: 2012
JRC N°: JRC68689
ISSN: 1552-3098
URI: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6172246
http://publications.jrc.ec.europa.eu/repository/handle/JRC68689
DOI: 10.1109/TRO.2012.2188609
Type: Articles in Journals
Abstract: This paper presents a new robotic device whose main objective is to increase the flexibility of the current systems used to carry out inspection and manipulation tasks of spent nuclear fuel inside dry storage unit cells. Instead of a rigid kinematic chain, the proposed device is based on the idea of a capsule that can be deployed inside a cell with the appropriate tool by means of a conventional crane and ropes. The device is equipped with extendable actuators that immobilize the whole system inside the cell by pushing against the walls, providing a stable platform to those tools that have to execute precision tasks. The system also comprises an industrial tool changer that allows to deploy the required tool for each specific task. A first prototype of the device and a tool for the nuclear spent fuel retrieval were built and the results of the initial experimental tests are reported at the end of the paper.
JRC Institute:Institute for Transuranium Elements

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