Design of a Robotic Welding System for Closure of Waste Storage Canisters Page: 1 of 2
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DESIGN OF A WELDING AND INSPECTION SYSTEM
FOR WASTE PACKAGE CLOSUREMOL. 20051109 .0501
Herschel B. Smartt
Idaho National Laboratory
2525 N. Fremont Ave.
Idaho Falls, ID 83415
Rodney J. Bitsoi
Idaho National Laboratory
2525 N. Fremont Ave.
Idaho Falls, ID 83415
Charles R. Tolle
Idaho National Laboratory
2525 N. Fremont Ave.
Idaho Falls, ID 83415Arthur D. Watkins
Idaho National Laboratory
2525 N. Fremont Ave.
Idaho Falls, ID 83415
Eric D. Larsen
Idaho National Laboratory
2525 N. Fremont Ave.
Idaho Falls, ID 83415David P. Pace
Idaho National Laboratory
2525 N. Fremont Ave.
Idaho Falls, ID 83415
Timothy R. McJunkin
Idaho National Laboratory
2525 N. Fremont Ave.
Idaho Falls, ID 83415I. INTRODUCTION
This work reported here was done to provide a
conceptual design for a robotic welding and inspection
system for the Yucca Mountain Repository waste package
closure system. The welding and inspection system is
intended to make the various closure welds that seal
and/or structurally join the lids to the waste package
vessels. The welding and inspection system will also
perform surface and volumetric inspections of the various
closure welds and has the means to repair closure welds,
if required. The system is designed to perform these
various activities remotely, without the necessity of
having personnel in the closure cell.
II. DESCRIPTION
The work began by developing a statement of the
operational and performance requirements for the waste
package closure system. From these requirements, subtier
performance requirements were developed for the robotic
welding and inspection system. Next, a study was
conducted of several alternative approaches to the design
of the system. These approaches included (a) two cell-
mounted robotic arms, (b) two coordinate gantry
machine-mounted robotic arms, (c) a center pivot
machine, and (d) a concentric track machine. A design
configuration based on the concentric track machine
concept was identified that meets the functionalrequirements for the system while best satisfying the
design issues. Specific design guidelines were then
developed. Finally, several prototype components of the
system have been designed, built, and tested.
III. RESULTS
The welding and inspection system is designed to
consist of two articulated-arm radiation-hardened robots
mounted on a large-diameter traversing ring. This allows
the two robots to access all points on the top of the waste
package with a set of end effectors. Each robot has four
end effectors for welding, ultrasonic inspection, eddy
current inspection, and dressing (wire brushing and
grinding) of the closure welds. The welding end effectors,
Figures 1 and 2, show the visual inspection and waste
package temperature measurement capabilities. The
welding and inspection system is mounted concentrically
with a large-diameter hole in the closure cell floor. The
waste package is placed underneath and nominally
concentric to this hole. The welding and inspection
system can retract from the hole, thus providing accesses
to the waste package by various other closure cell systems
for placing lids, purging, and backfilling the waste
package with helium, leak testing, and component
identification. This paper presents the design of the
welding and inspection system, describes the end
effectors, discusses the control system, and presents the
results of component tests, including welding trials.
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Smartt, H. B.; Watkins, A. D.; Pace, D. P.; Bitsoi, R. J.; McJunkin, E. D. & Tolle, C. R. Design of a Robotic Welding System for Closure of Waste Storage Canisters, report, April 7, 2005; Las Vegas, Nevada. (https://digital.library.unt.edu/ark:/67531/metadc892075/m1/1/: accessed April 24, 2024), University of North Texas Libraries, UNT Digital Library, https://digital.library.unt.edu; crediting UNT Libraries Government Documents Department.