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|Title:||A Crane-Based Robotic-Device for Operating inside Storage Cells|
|Authors:||CORNELLA Jordi; PUIG ALCORIZA David; SEQUEIRA Vitor|
|Citation:||IEEE TRANSACTIONS ON ROBOTICS vol. 28 no. 4 p. 911-921|
|Publisher:||IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC|
|Type:||Articles in periodicals and books|
|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 Directorate:||Nuclear Safety and Security|
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