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Title: Control of a long reach manipulator with suspension cables for waste storage tank remediation. Final report

Technical Report ·
DOI:https://doi.org/10.2172/179213· OSTI ID:179213

A long reach manipulator will be used for waste remediation in large underground storage tanks. The manipulator`s slenderness makes it flexible and difficult to control. A low-cost and effective method to enhance the manipulator`s stiffness is proposed in this research by using suspension cables. These cables can also be used to accurately measure the position of the manipulator`s wrist.

Research Organization:
North Carolina Agricultural and Technical State Univ., Greensboro, NC (United States). Dept. of Mechanical Engineering
Sponsoring Organization:
USDOE, Washington, DC (United States); Nuclear Regulatory Commission, Washington, DC (United States)
DOE Contract Number:
AC05-76OR00033
OSTI ID:
179213
Report Number(s):
DOE/OR/00033-T659; ON: DE96005148; TRN: AHC29603%%38
Resource Relation:
Other Information: PBD: 30 Dec 1994
Country of Publication:
United States
Language:
English

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Related Subjects

42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES
05 NUCLEAR FUELS
STORAGE FACILITIES
REMEDIAL ACTION
WASTE RETRIEVAL
MANIPULATORS
DESIGN
CONTROL
RETRIEVAL SYSTEMS
HANFORD RESERVATION
PROGRESS REPORT
RADIOACTIVE WASTE STORAGE
POSITIONING
CONTROL EQUIPMENT
FLEXIBILITY
SLUDGES
RADIOACTIVE WASTES
DEGREES OF FREEDOM