제어로봇시스템학회:학술대회논문집
- 2004.08a
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- Pages.1520-1524
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- 2004
Tele-robotic Application for Nozzle Dam Maintenance Operation in Nuclear Power Plants
- Seo, Yong-Chil (Advanced Robotics Laboratory, Korea Atomic Energy Research Institute) ;
- Kim, Chang-Hoi (Advanced Robotics Laboratory, Korea Atomic Energy Research Institute) ;
- Cho, Jae-Wan (Advanced Robotics Laboratory, Korea Atomic Energy Research Institute) ;
- Kim, Seung-Ho (Advanced Robotics Laboratory, Korea Atomic Energy Research Institute)
- Published : 2004.08.25
Abstract
This paper describes the development of a robotic maintenance system for use in a maintenance operation of the nozzle dam in a water chamber of a steam generator at the Kori nuclear power plant in Korea. The robotic maintenance system was designed to minimize the personnel exposure to a hazardous radioactive environment. This robotic maintenance system is operated by a teleoperated control which was designed to perform the nozzle dam maintenance tasks in a remote manner without endangering the human workers. Specific maintenance tasks involve the transportation, insertion, and removal of nozzle dams in a water chamber inside a steam generator via a narrow man-way entrance port. The developed robotic maintenance system has two major subsystems: a two degrees of freedom guiding device acting as the main guiding arm and a master-slave manipulator with a kinematic dissimilarity. The mechanical design considerations, control system, and capabilities of the robotic maintenance system are presented. Finally, a graphical representation of the nozzle dam maintenance processes in a simulated work environment are also demonstrated.