Design of Power Manipulator for Hot Cell Facility

Abstract

A power manipulator (SDL-01) robot system was designed for radioactive hot cell facility which contained radioactive aerosol. The system consisted of a gantry robot with telescope and a six degree of freedom (6-DOF) robotic arm with a replaceable gripper. The manipulator allowed the execution of high forces and handle heavy objects. It was designed to withstand an accumulative radiation dose of 10 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">6</sup> Gy ( H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</inf> O ) [ <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">60</sup> Co] [1], the electrical drive system must be redesigned and radiation harden. The early power manipulator operated remotely by using speed control mode, we designed a radiation resistant position control servo system for SDL-01.