A tele-robot system for nuclear SG service

Author

Wang, Liquan ; Wu, Jianrong ; Tang, Dedong ; Liu, Yulong

Author_Institution

Sch. of Mech. & Electr. Eng., Harbin Eng. Univ., Harbin

fYear

2008

fDate

2-4 July 2008

Firstpage

4249

Lastpage

4253

Abstract

A master-slave six degree of freedom (DOF) robot is developed for performing tasks such as eddy current inspection, ultrasound inspection, plugging, and sleeving inside water chamber of nuclear steam generator (SG). The virtual master robot is operated in a container of nonradiation area, while slave robot provides real service correspondingly inside of SG with high level of radiation. The software and hardware architecture of the robot is opening and blocking. This paper presents the system design, key technological components and comprehensive test in simulated field. When commercialized, it will extremely promote overhaul efficiency, and have the fundamental role in development of in-service technology for nuclear power plant in China.

Keywords

nuclear power stations; nuclear reactor steam generators; service robots; telerobotics; eddy current inspection; in-service technology; master-slave robot; nuclear power plant; nuclear steam generator service; tele-robot system; ultrasound inspection; Computer architecture; Containers; Eddy currents; Hardware; Inspection; Master-slave; Nuclear power generation; Robots; System testing; Ultrasonic imaging; In-service; Reconfigurable Modular; System Design; Tele-robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference, 2008. CCDC 2008. Chinese

Conference_Location

Yantai, Shandong

Print_ISBN

978-1-4244-1733-9

Electronic_ISBN

978-1-4244-1734-6

Type

conf

DOI

10.1109/CCDC.2008.4598130

Filename

4598130