REMOTE SYSTEMS AND COMPONENT INTEGRATIONOF THEHANDLING SEGREGATING SYSTEM FOR 55-GALLON DRUMS (HANDSS-55)

摘要

The Robotics Crosscut Program (RBX), working with the TRU Mixed Waste Focus Arearn(TMFA), started a multi-lab development effort for a remote system to repackage drummedrnmixed wastes to meet the Waste Isolation Pilot Plant (WIPP) waste acceptance criteria. MultiplernDOE sitesa have been tasked to develop the Handling and Segregating System for 55-gallonrndrums (HANDSS-55) of mixed wastes for potential use at multiple waste storage sites withrninitial deployed at the Savannah River Site (SRS). The HANDSS-55 is being developed as arnremotely operated, modular system that opens 55-gallon drums, sorts and segregates the drumrncontents, and repackages the contents into new 55-gallon drum liners. The HANDSS-55 can bernbroken into four main areas, the Waste Sorting and Segregation Module, the TRU-WasternRepackaging Module (TWRM), the TRU-Waste Transfer Systems,b and the Glove Box.c Thernmodular concept requires that all developed modules/components be integrated into a completernoperational system. System integration began with identifying the subsystems required to linkrnthe identified modules together and then developing the design requirements for each subsystem.rnLinking components were then developed to meet the identified requirements. A solids modelrncomponent envelope was developed to establish the geometric criteria for each subsystem thatrnwould allow integrating each subsystem into a single operational system. System operation flowrnsheets were also developed to identify the steps and component interactions required tornrepackage 55-gallon drums. Solids modeling is being used to aid in the overall systemrnintegration. Solids models are incorporated into the component envelope to help ensure that thernfinal system fits within the geometric constraints placed on the overall design. This paperrnpresents the methodology used to integrate the identified areas into the HANDSS-55 system andrndescribes various linking components identified as part of the TRU-Waste Transfer System.