Combined long reach and dexterous manipulation for waste storage tank applications

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One of the highest priority environmental restoration tasks within the Department of Energy (DOE) is the remediation of single-shell waste storage tanks (WSTs), especially those suspected of, or documented as, leakers. Most currently proposed approaches for remediation of large underground WSTs require application of remotely operated long-reach (greater than 10 m), high-lift capacity (greater than 200 kg) manipulator systems. Because of the complexity of in-tank hardware, waste forms, remediation tasks, and variety of end-effector tools, these manipulator systems must also be capable of performing a diverse set of dexterous manipulations. This presentation will describe the integration of a Spar RMS ... continued below

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Pages: (7 p)

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Burks, B.L.; Armstrong, G.A.; Butler, P.L. (Oak Ridge National Lab., TN (United States)) & Boissiere, P. (Sandia National Labs., Albuquerque, NM (United States)) January 1, 1991.

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Description

One of the highest priority environmental restoration tasks within the Department of Energy (DOE) is the remediation of single-shell waste storage tanks (WSTs), especially those suspected of, or documented as, leakers. Most currently proposed approaches for remediation of large underground WSTs require application of remotely operated long-reach (greater than 10 m), high-lift capacity (greater than 200 kg) manipulator systems. Because of the complexity of in-tank hardware, waste forms, remediation tasks, and variety of end-effector tools, these manipulator systems must also be capable of performing a diverse set of dexterous manipulations. This presentation will describe the integration of a Spar RMS 2500 manipulator system, a Schilling Titan-7F manipulator, and control systems developed at ORNL and SNL to provide a combined long reach and dexterous manipulation system. The purpose of integrating these two manipulator systems was to study and demonstrate their combined performance, evaluate design requirements for a deployed system, and provide a testbed for control and end-effector technologies that might be applicable to remediation of WSTs. 5 refs.

Physical Description

Pages: (7 p)

Notes

OSTI; NTIS; INIS; GPO Dep.

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  • Winter meeting of the American Nuclear Society (ANS), San Francisco, CA (United States), 10-15 Nov 1991

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  • Other: DE91016770
  • Report No.: CONF-911107-25
  • Grant Number: AC05-84OR21400
  • Office of Scientific & Technical Information Report Number: 5295447
  • Archival Resource Key: ark:/67531/metadc1064641

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • January 1, 1991

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  • Feb. 4, 2018, 10:51 a.m.

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  • March 1, 2018, 8:15 p.m.

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Burks, B.L.; Armstrong, G.A.; Butler, P.L. (Oak Ridge National Lab., TN (United States)) & Boissiere, P. (Sandia National Labs., Albuquerque, NM (United States)). Combined long reach and dexterous manipulation for waste storage tank applications, article, January 1, 1991; Tennessee. (digital.library.unt.edu/ark:/67531/metadc1064641/: accessed August 21, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.