The manipulator to extract foreign objects from the hot chamber of the mine

2017 6th International Conference on Power Science and Engineering

Iureva, R.A.^1 ; Maltseva, N.K.^1 ; Tulkova, Irina^1

ITMO University, Russia^1

关键词: Angular coordinates;    Foreign object;    Hot-chambers;    Nuclear safety;    Radiation-resistant cameras;    Reference systems;    Two degrees of freedom;    Working body;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/136/1/012015/pdf
DOI  :  10.1088/1755-1315/136/1/012015

来源: IOP

【 摘 要 】

The manipulator to extract foreign objects from the hot chamber of the mine, is developed for the retrieval of foreign objects (including nuclear fuel elements), located in the deep and shallow canisters and boxes of «hot» nuclear safety box camera. The manipulator is a special articulated arm (manipulator's actuating unit) with two degrees of freedom in the angular coordinate system, electric actuator, gravity balancer to the arm with exchangeable working body. The manipulator is outfitted with three radiation-resistant cameras with built-in illuminators. The article discusses the selection and the justification of the reference system and details of the kinematic scheme.