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Master-slave servo manipulator system for the PRIDE facility

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5 Author(s)
Jong Kwang Lee ; Korea Atomic Energy Research Institute, Yuseong-gu, Daejeon, 305-353, Korea ; Byung Suk Park ; Hyo Jik Lee ; Kiho Kim
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A prototype of a master-slave servo manipulator system has been developed for the use in the PRIDE (PyRoprocess Integrated inactive DEmonstration) facility. The PRIDE facility is designed to have an argon-atmosphere cell which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. In this paper, we describe a motion-decoupled joint design of a cable-driven mechanism, a weight balancing analysis, and an interface system. The prototype manipulator system has been installed at a mock-up facility and the performance test of the manipulator system is currently carried out.

Published in:

Applied Robotics for the Power Industry (CARPI), 2010 1st International Conference on

Date of Conference:

5-7 Oct. 2010