Bakari, M. J. and Seward, Derek W. and Taylor, C. James (2009) The Development of a Prototype of a Multi-Arm Robotic System for Decontamination and Decommissioning (D&D) Applications within the Nuclear Industry. In: 12th International Conference on Environmental Remediation and Radioactive Waste Management, 2009-10-11 - 2009-10-15.
Full text not available from this repository.Abstract
There are many challenges that will be faced for decades to come in the development of remote handling and robotics for the nuclear industry in the UK. This paper discusses the development of a robotic system for D&D applications. With the use of the modern development path of robotics, this paper shows that MARS-ND is a good example of a robotic system specifically designed for decommissioning applications. The paper will also demonstrate the complexity of such a system by considering a number of aspects including the need for mobility; control; sensors; effective system design; and integration using modern tools that are available ‘off-the-shelf’, or to be ordered with modified specifications to meet the design requirements for use in D&D application. These modern tools allow a single mechatronics engineer to design, integrate, interface, build and develop a high-level control system when compared to the traditional way of building a similar robot.