Development of Telerobotic Systems for Reactor Decommissioning, (II)

This paper describes the prototype heavy-duty telerobotic system constructed as a cold test facility for the development of robotic remote handling system technology in reactor decommis-sioning. The total system is built up with a multi-functional electrical manipulator system, a manipulator transporter system equipped with a tripedal support mechanism, a monitoring system comprising a 3-D TV monitor, and a computer control system for overall system operation. The manipulator system consists of two master manipulators and two corresponding amphibious slave manipulators with load capacities of 100 and 25 daN, respectively. Valuable engineering experiences for developing more advanced heavy-duty telerobotic system have been gained through designing, constructing and testing the system.