By Topic

Development of a pneumatic muscle actuator driven manipulator rig for nuclear waste retrieval operations

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Caldwell, D.G. ; Dept. of Electron. & Electr. Eng., Salford Univ., UK ; Tsagarakis, N. ; Medrano-Cerda, G.A. ; Schofield, J.
more authors

The processes of nuclear clean-up, dismantling and decontamination are highly hazardous, but in many instances, particularly where the facility is older there has been little provision for automation, and human intervention is necessary. The paper describes a prototype design of a teleoperational rig for retrieval of radioactive material (spent Magnox fuel) from underwater storage ponds. The system uses a combination of the traditional man-handled manipulation pole combined with new pneumatic muscle actuators. The paper considers the design requirement, the technology and the system performance in dry test operations

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:1 )

Date of Conference: