Results of the Manipulator Test Test Stand Study: Comparison of Manipulators and Evaluation of Equipment Items.

摘要

This report describes the results of a study jointly conducted by staff members of the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory (ORNL) in the United States and the Power Reactor and Nuclear Fuel Development Corporation (PNC) in Japan. This study was initiated under the Remote Systems Technology Exchange Program and continued as part of the Joint Collaboration on Reprocessing Technology, each representing agreements between the United States Department of Energy and PNC. The purpose of the study was to evaluate the performance of servomanipulator systems developed by the respective participants as part of their in-cell maintenance systems for use in future nuclear fuel reprocessing facilities. The following servomanipulators were tested: (1) the Central Research Laboratory's model M-2, (2) the advanced servomanipulator (ASM), and (3) the Meidensha Prototype-2 (P-2). A series of experimental tasks and a test platform called the Manipulator Test Test Stand (MTTS) were jointly designed by ORNL and PNC. An evaluation of the servomanipulator system was based on the time required to complete these tasks. PNC and ORNL consider these tasks to be typical of those required for future reprocessing applications. 1 ref., 10 figs., 5 tabs.