Year of manufacture: 2020
Customer: Mining and Chemical Combine, Zheleznogorsk, Russia
The manipulator is designed to transfer various objects weighing up to 10 kg inside a shielded cell. Driven by the master arm to follow the operator's hand, the end effector grabs and transfers an object. The objects can be transferred in the automatic mode, as programmed.
All electromechanical arm actuators are designed for out-of-the-cell locations. It ensures their protection from ionizing radiation and facilitates access during maintenance and debugging operations.
The electromechanical arm has six degrees of freedom. The rotational motions of all arm joints are produced by separate electrical actuators and then translated through drive shafts and a chain of bevels and wave-type gears. The end-effector is a grip. Separate drives are in charge of rotating and moving the grip upward/downward and opening/closing the jaws.
The manipulator elements contacting the radioactive environment are made of corrosion-resistant steel and are decontaminable. Seals protect the manipulator's internal mechanisms from moisture and dust.
Specifications:
| Service area (LxWxH)* | 940х750х1100 mm |
| Operating medium | air |
| Gamma radiation dose rate in arm operation area | less than 2.5·104 rad/h |
| Lifting capacity at maximum outreach | 10 kg |
| Quantity of axes/degrees of freedom | 6 |
| Vertical travel | 200 mm |
| Joint rotation angle | 360 degrees |
| Jaw opening | 80 mm |
| Automatic transfer time | less than 30 s |
| Positioning error | ± 5 mm |
| Weight | 700 kg |
* The design of the master-slave manipulator is adaptable to shielded cells of various configurations to handle various objects.
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