Impact of access port diameter on the long reach manipulator design

摘要

Many of the single shell storage tanks (SSTs) on the Hanford site appear to have central 42-in. risers which could be used as access ports for the Long Reach Manipulator (LRM). However, about half of the tanks are known to not have a central 42-in. riser and it has recently been discovered that of the tanks whose drawings indicate central 42-in. risers, the majority have been plugged, sealed, or taper down to a much smaller diameter at ground level. Thus, it can be assumed that a central access port for the LRM will have to be made. There are many issues involved in determining the best diameter for this access port such as radiation exposure, contamination prevention, and availability of remote excavation technology. This report analyzes the relationship between the access port diameter and the performance characteristics of the LRM. Previous work has assumed that the mast diameter would be 80% of the access port diameter. In this report, the maximum mast diameter will be varied rather than the access port diameter, leaving the issue of the required clearance between the mast and the access port open.