SNAKES manipulator and ARD sluicer testing -- April 1997

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Description

Long reach arms represent one of the options available for deployment of end effectors which can be used in the retrieval of radioactive waste, from the Hanford single shell tanks. The versatility of an arm based deployment system is such that it has the potential to improve the performance of a wide range of end effectors compared with stand-alone or other deployment methods. The long term reliability and availability of the deployment system is central to the timely completion of a waste retrieval program. However, concerns have been expressed over the dynamic performance of long reach arms and it is ... continued below

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262 p.

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Berglin, E.J. May 29, 1997.

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This report is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. It has been viewed 16 times . More information about this report can be viewed below.

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  • Fluor Daniel Hanford, Inc.
    Publisher Info: Fluor Daniel Hanford, Inc., Richland, WA (United States)
    Place of Publication: Richland, Washington

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Description

Long reach arms represent one of the options available for deployment of end effectors which can be used in the retrieval of radioactive waste, from the Hanford single shell tanks. The versatility of an arm based deployment system is such that it has the potential to improve the performance of a wide range of end effectors compared with stand-alone or other deployment methods. The long term reliability and availability of the deployment system is central to the timely completion of a waste retrieval program. However, concerns have been expressed over the dynamic performance of long reach arms and it is essential that an arm based system can cope with operational dynamic loads generated by end effectors. The test program conducted set out to measure static and dynamic loads and responses from a representative arm and sluicer, with the objective of extrapolating the data to a long reach arm system, that can be used for in-tank waste retrieval. As an arm with an appropriate reach was not available, the test program was undertaken to measure dynamic characteristics of a Magnox Electric 18 ft multi-link, hydraulically actuated SNAKES manipulator. This is the longest reach unit in service, albeit only one third of the 50 ft length required for in-tank waste retrieval. In addition operational performance and loading measurements were obtained from a low pressure confined system sluicer under development by ARD Environmental, to add to the end effector data base. When subject to impulse loading, the arm was found to behave in a repeatable manner having fundamental natural frequencies in the vertical and transverse directions of 1 Hz. There were also a large number of higher natural frequencies measured up to 100 Hz.

Physical Description

262 p.

Notes

INIS; OSTI as DE99051071

Source

  • Other Information: PBD: 29 May 1997

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  • Other: DE99051071
  • Report No.: HNF-MR--0538
  • Grant Number: AC06-96RL13200
  • DOI: 10.2172/362468 | External Link
  • Office of Scientific & Technical Information Report Number: 362468
  • Archival Resource Key: ark:/67531/metadc688056

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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.

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Creation Date

  • May 29, 1997

Added to The UNT Digital Library

  • July 25, 2015, 2:20 a.m.

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  • June 13, 2016, 8:56 p.m.

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Berglin, E.J. SNAKES manipulator and ARD sluicer testing -- April 1997, report, May 29, 1997; Richland, Washington. (digital.library.unt.edu/ark:/67531/metadc688056/: accessed June 19, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.