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Technology Factsheet

Bridge-Transported Dual-Arm Servo-Manipulator (BDSM)

Category: Robotics > Dismantling and Retrieval > Bespoke System
Reference # : Model No :

The 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). 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.

Site:Other
Industry:Nuclear
Size:Very Large (>100kg/200lb, >120cm/48in)
TRL:Demonstration (7-8)
TRL2:Demonstration (7-8)
Tether: *
Waterproof: *
Payload: *
Reach: *
Manipulator: *

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A bridge-transported bilateral master–slave servo manipulator system called the Bridge-Transported Dual-Arm Servo-Manipulator (BDSM) was developed for remote manipulation at the Pyroprocess Integrated Inactive Demonstration (PRIDE) facility in Korea. Its many innovative design concepts include a motion-decoupled, cable-drive mechanism, fully counterbalanced linkage structure, and interface system for easy attachment/detachment of the arms during remote maintenance. In addition, the manipulator is mounted at the end of a novel redundant-drive extensible telescopic boom with a synchronized compact cabling management system. The BDSM is currently installed in the Remote Handling Evaluation Mock-up (RHEM), where it has successfully completed operating tests with a remote control system incorporating a bilateral force-reflection controller. Good tracking performance was confirmed regardless of the payload, allowing highly transparent control. The system is thus expected to achieve its design goals in dexterous remote handling tasks in PRIDE.

Operational Experience:

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