Kinematic and Dynamic Analyses of Four Bar Clamping Mechanism Operating in Liquid Sodium

摘要

Future fast breeder reactors envisage the use of Offset Handling Machine for ex-vessel handling. In order to avoid the inadvertent lifting of transfer pot (TP) by in-vessel handling machine, an actuator operated four bar clamping mechanism is being used. Kinematic analysis of the mechanism is very important to ensure the positional accuracy of clamping link. Accurate determination of forces in links are essential for linear actuator sizing, which necessitates the need for dynamic analysis. A code has been developed for the kinematic and dynamic analysis of the mechanism. Position analysis ensures that clamping link moves out thereby enabling the easy removal of TP. Analysis shows that maximum velocity at the tip of clamping link is very small and hence do not influence the positional accuracy. Dynamic analysis with and without considering the effects of friction are carried out and pushing/pulling force requirements of clamping mechanism are established.