| Abstract: | This report summarizes technological features of advanced telerobotic systems for reactor dismantling application developed at the Japan Atomic Energy Research Institute. Taking into consideration the special environmental conditions in reactor dismantling, major effort was made to develop multifunctional telerobotic system of high reliability which can be used to perform various complex tasks in an unstructured environment and operated in an easy and flexible manner. The system development was carried out through constructing three systems in succession; a light-duty and a heavy-duty system as a prototype system for engineering test in cold environment, and a demonstration system for practical on-site application to dismantling highly radioactive reactor internals of an experimental boiling water reactor JPDR (Japan Power Demonstration Reactor). Each system was equipped with one or two amphibious manipulators which can be operated in either a push-button manual, a bilateral master-slave, a teach-and- playback or a programmed control mode. Different scheme was adopted in each system at designing the manipulator, transporter and man-machine interface so as to compare their advantages and disadvantages. According to the JPDR decommissioning program, the demonstration system was successfully operated to dismantle a portion of the radioactive reactor internals of the JPDR, which used underwater plasma arc cutting method and proved the usefulness of the multi-functional telerobotic system for reducing the occupational hazards and enhancing the work efficiency in the course of dismantling highly radioactive reactor components. |
