Remote Handling (RH) is now a day’s an essential part of industries, especially the ones which involve nuclear and hazardous environments. Apart from their ability to work in confined spaces or locations with limited accessibility, the prime advantage of using remote handling tools in the nuclear industry is that they minimize the exposure of human beings to radiations thus ensuring safety of personnel. Remote Handling has certain challenges associated with it like vacuum compatibility, residual magnetic field and a need to work with tight enclosures. Vacuum compatibility here does not address working in vacuum environment but it means working in an environment where vacuum needs to be generated. The challenges thus provide an insight for the
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The grippers differ from one application to another, so it is important to define the task clearly. Only by doing this, requirements for the design can be determined. This gripper will be used with robot in Institute for Plasma Research, RHRTD Division to develop a Mock-up platform for demonstration of Remote Handling tasks which will comprise of a robot and associated control system. The operation is mainly used during the maintenance period. Many-a-times this operations involves holding parts within tight enclosures, hence a two-fingered design is proposed which can access small areas along with simplicity of design compared to anthromorphic …show more content…
Selection of Transmission System:
Electric motor is selected as an actuator for the proposed gripper. As it generates rotary motion at output, the actuator itself cannot carry out the gripping action. Thus there is a need of a transmission mechanism to transfer the force from the actuator side to the grip point. Thus angular motion of fingers required for both - ease of gripping and work piece centering is the reason for selection of screw-driven mechanism. In addition to simplicity, it offers added advantages like self-locking along with precise control of translational movement making the gripping more accurate.
C. Selection of Material:
In the design of the gripper, the major preference is the lightness of the gripper. The robot’s end where the gripper will be attached has a payload of 5 kilograms. So, there is a need to make the gripper as light as possible in order to leave the remaining capacity for the work piece. Stainless steel 304L being non – magnetic and vacuum compatible is chosen as the material for the
The grippers differ from one application to another, so it is important to define the task clearly. Only by doing this, requirements for the design can be determined. This gripper will be used with robot in Institute for Plasma Research, RHRTD Division to develop a Mock-up platform for demonstration of Remote Handling tasks which will comprise of a robot and associated control system. The operation is mainly used during the maintenance period. Many-a-times this operations involves holding parts within tight enclosures, hence a two-fingered design is proposed which can access small areas along with simplicity of design compared to anthromorphic …show more content…
Selection of Transmission System:
Electric motor is selected as an actuator for the proposed gripper. As it generates rotary motion at output, the actuator itself cannot carry out the gripping action. Thus there is a need of a transmission mechanism to transfer the force from the actuator side to the grip point. Thus angular motion of fingers required for both - ease of gripping and work piece centering is the reason for selection of screw-driven mechanism. In addition to simplicity, it offers added advantages like self-locking along with precise control of translational movement making the gripping more accurate.
C. Selection of Material:
In the design of the gripper, the major preference is the lightness of the gripper. The robot’s end where the gripper will be attached has a payload of 5 kilograms. So, there is a need to make the gripper as light as possible in order to leave the remaining capacity for the work piece. Stainless steel 304L being non – magnetic and vacuum compatible is chosen as the material for the