Remote Size Reduction by Hydraulic Cutter with Buffer Device Attached to Robotic Arm Using Visual Support System

Abstract

In nuclear fuel fabrication facilities, gloveboxes are typically dismantled manually. The integration of remotely controlled equipment, comprising a robot arm and a size reduction tool, can enhance work efficiency and mitigate radiation exposure risks in dismantling operations. The hydraulic cutter is regarded as a highly effective tool for reducing the size of steel frame structures, which are commonly composed of gloveboxes. However, when an object is severed by a hydraulic cutter fixed to a robot arm, the resultant reaction force may compromise the integrity of the robot arm or nearby structures. Consequently, in this study, we designed and manufactured a buffer device that can loosely hold the cutter to automatically align the object and absorb the reaction force. Furthermore, a visual support system was developed to assist the operator in performing remote dismantling operations. This system utilized a 3D viewer to project the robot arm, the buffer device, and the working environment. The functionality of the buffer device and 3D viewer was evaluated for the glovebox test bed. The experimental results satisfactorily confirmed the functionality of the buffer device to self-align the object and absorb sudden movements of the hydraulic cutter. Moreover, the 3D viewer provided the robot arm operator with an unobstructed perspective of the work environment, thereby confirming the efficacy of the visual support system in facilitating remote dismantling operations.