tailieunhanh - Robotics 2010 Current and future challenges_1

One redundant characteristic of dismantling operations of nuclear facilities is the lack of exhaustive and accurate data relating to the actual state of the facilities. Most of the time the harsh working conditions (heat, dust, radiological contamination.) are rated far too severe for human workers to carry out the work. As a consequence robots are set to take over from human staff. It is necessary to use flexible, powerful and remotely-operated manipulator arms that are fitted with specially-designed processes and tools for cutting, handling and cleaning-up | 1 From oil to pure water hydraulics making cleaner and safer force feedback high payload telemanipulators Gregory Dubus Olivier David and Yvan Measson CEA LIST - Interactive Robotics Unit France 1. Introduction One redundant characteristic of dismantling operations of nuclear facilities is the lack of exhaustive and accurate data relating to the actual state of the facilities. Most of the time the harsh working conditions heat dust radiological contamination. are rated far too severe for human workers to carry out the work. As a consequence robots are set to take over from human staff. It is necessary to use flexible powerful and remotely-operated manipulator arms that are fitted with specially-designed processes and tools for cutting handling and cleaning-up. For similar reasons the maintenance of fusion reactors is another kind of application which will be carried out with help of robotic means. The International Thermonuclear Experimental Reactor ITER is an experimental fusion reactor based on the Russian tokamak concept and is the next generation of fusion machines. It will benefit of the research results on the actual existing fusion reactors to experiment long lasting pulses at high energy level. Owing to plasma interactions some in-vessel components are expected to erode to such an extent that they will require replacement several times during the lifetime of the machine. Among these components the divertor is one of the most challenging. At the same time it has to exhaust the impurities of the plasma and to work as an actively cooled thermal shield for the lower part of the torus. But fusion reactions between deuterium and tritium isotopes produce high-energy neutron fluxes that irradiate the structure of the torus and forbid direct human access inside the reactor. As a consequence the maintenance of the in-vessel components requires the use of Remote Handling RH technology. Hydraulic technology provides compact and powerful manipulators compared to .

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