Nuclear Dismantling Robotic Arm with Seven Degrees of Freedom
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Solution Overview
Problem
Current dismantling systems for nuclear installations, particularly UNGG reactors, lack the efficiency to completely dismantle complex fuel bricks, posing safety and operational challenges due to limited robotic arm capabilities.
Innovation Solution
A dismantling system featuring a robotic arm with seven degrees of freedom, comprising a mast, slewing ring, and a tool, supported by double-acting hydraulic cylinders and sensors for real-time position detection, allowing for extensive mobility and handling of heavy loads within the sealed enclosure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a conventional robotic arm is used for dismantling nuclear facilities, then the system is simpler and easier to control, but it lacks the power and mobility to handle complex fuel bricks
Solution Approach 1:
The robotic arm is divided into multiple independent limbs (first limb, second limb, third limb, fourth limb) that can move relative to each other, allowing the system to achieve complex motions and handle various configurations of fuel bricks while maintaining manageable control of each individual segment
Solution Approach 2:
The robotic arm employs multiple degrees of freedom with limbs that can pivot and extend dynamically, enabling the system to adapt its configuration to match the complexity of different dismantling tasks and handle heavy fuel bricks from various positions and orientations
2Force
If the robotic arm is designed to support heavy loads (700 kg), then it can handle fuel bricks effectively, but the system becomes more complex and requires more space
Solution Approach 1:
The robotic arm uses hydraulic actuators to generate the necessary force to support and manipulate heavy fuel bricks (700 kg capacity) while keeping the mechanical structure relatively compact, as hydraulic systems provide high force density
Solution Approach 2:
The telescopic limbs allow the robotic arm to nest its components when not in use, reducing the space required while maintaining the capability to extend to the necessary length for handling heavy loads during operation
3Adaptability or versatility
If the robotic arm has seven degrees of freedom for high mobility, then it can perform all dismantling tasks, but the control system becomes more complex
Solution Approach 1:
Sensors are integrated into the robotic arm to detect the position and orientation of each limb in real-time, providing feedback to the control system that enables automated coordination of the seven degrees of freedom, simplifying operation while maintaining high mobility
Solution Approach 2:
The seven degrees of freedom are designed to be universally applicable to various dismantling tasks within the sealed enclosure, allowing a single complex robotic arm configuration to handle multiple operations without requiring task-specific reconfiguration
Data Source
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AI summary
This dismantling system (2) for a nuclear installation (1) comprises a fixed part (3) supporting a downward-extending mast (4), a robotic arm (7) attached to the lower end of the mast, and a tool (6) attached to the robotic arm. The robotic arm has seven degrees of freedom and includes a slewing ring (73), which is rotatable and allows the robotic arm to rotate relative to the mast, thus forming one of the seven degrees of freedom; limbs (75, 77, 79, 81), which are movable relative to the slewing ring and to each other, thus forming five of the seven degrees of freedom; and an end limb (81) and a rotating head (83) mounted on the end limb, which carries the tool and is rotatable relative to the end limb, thus forming one of the seven degrees of freedom. Under handling conditions, the robotic arm is designed to support a mass of at least 700 kg.