Key Design Requirements for Long-Reach Manipulators

Kwon, D.S.

Oak Ridge National Laboratory

关键词: Waste Management;    Manipulators;    Waste Storage;    Robots;    Design;   

DOI  :  10.2172/814249
RP-ID  :  ORNL/TM-12251
RP-ID  :  AC05-00OR22725
RP-ID  :  814249

美国|英语

来源: UNT Digital Library

【 摘 要 】

Long-reach manipulators differ from industrial robots and teleoperators typically used in the nuclear industry in that the aspect ratio (length to diameter) of links is much greater and link flexibility, as well as joint or drive train flexibility, is likely to be significant. Long-reach manipulators will be required for a variety of applications in the Environmental Restoration and Waste Management Program. While each application will present specific functional, kinematic, and performance requirements, an approach for determining the kinematic applicability and performance characteristics is presented, with a focus on waste storage tank remediation. Requirements are identified, kinematic configurations are considered, and a parametric study of link design parameters and their effects on performance characteristics is presented.