A tele-robot system for nuclear SG service

A master-slave six degree of freedom (DOF) robot is developed for performing tasks such as eddy current inspection, ultrasound inspection, plugging, and sleeving inside water chamber of nuclear steam generator (SG). The virtual master robot is operated in a container of nonradiation area, while slave robot provides real service correspondingly inside of SG with high level of radiation. The software and hardware architecture of the robot is opening and blocking. This paper presents the system design, key technological components and comprehensive test in simulated field. When commercialized, it will extremely promote overhaul efficiency, and have the fundamental role in development of in-service technology for nuclear power plant in China.