Remote modular design for a Bridge transported Dual arm Servo-Manipulator applied in pyroprocessing facility

A Bridge transported Dual arm Servo-Manipulator (BDSM) system has been developed for remote operation and maintenance of the process equipment in the PyRoprocess Integrated inactive DEmonstration facility (PRIDE), which is under construction at the Korea Atomic Energy Research Institute (KAERI). PRIDE, which will be used to develop the pyroprocessing technology for recycling useful resources from spent fuel, was designed to have an argon-atmosphere cell, which prohibits direct access by human operators. Therefore, all operations and maintenance of the process equipment must be remotely performed through remote handling equipment such as a mechanical master-slave manipulator (MSM), blister hoist, overhead bridge crane, and BDSM, which are installed in PRIDE. The BDSM is composed of 8 individual modules sized for handling by other remote handling equipment such as the MSM, blister hoist, and overhead bridge crane. A modular design was accomplished by the use of an interface mechanism. This paper addresses a remote modular design to facilitate maintenance for the BDSM.