Proposed use of a variable geometry truss manipulator for radioactive waste removal from underground storage tanks

摘要

The US Department of Energy's Hanford Site's single-shell tank waste problem and some proposed requirements for a waste retrieval manipulator are described. A proposed variable geometry truss (VGT) manipulator is described. The kinematic configuration of the VGT join and the kinematics of the manipulator are discussed. The developmental needs to field a working manipulator are described.