PRIDE remote handling systems

In this paper, we present the development of remote handling systems for pyroprocessing technology development at KAERI (Korea Atomic Energy Research Institute). Remote handling systems mainly include MSMs (Master-Slave Manipulators) and a BDSM (Bridge transported Dual arm Servo-Manipulator), all of which were applied to PRIDE (PyRoprocess Integrated inactive DEmonstration facility) at KAERI and are being used for the remote operation and maintenance of processing equipment and auxiliary devices located inside the argon cell of PRIDE. MSMs are mechanically driven replica-type manipulators with 6 degrees of freedom. An electrically driven BDSM that traverses the length of the ceiling has dual master-slave arms of which each single master-slave arm has a kinematic similarity and a force reflection. We describe our research activities and progress made in developing remote handling systems to be used for the remote operation and maintenance work in PRIDE.