Robotics Systems for Reactor Servicing and Repair

Abstract

The "Canadarm", the robotic arm which is an integral part of NASA's space shuttle missions, is familiar to audiences all over the world as a result of media coverage of the space shuttle program during the past five years. Technology developed in the "Canadarm" is finding increasing applications in hostile environments on earth. The nuclear industry is an early beneficiary of this technology in the form of a Remote Manipulation and Control System to assist in a large scale fuel channel replacement program at Ontario Hydro's Pickering Nuclear Generating Station. Elements of the system include precision tooling, a laser based alignment mechanism, a manipulator or robotic arm known as the Spar 2500, an audio-visual feedback system, and a remote operations centre. The concepts applied in the development of this comprehensive system and certain major components of the system such as the Spar 2500 robot arm are expected to find further application in nuclear plant servicing, repair, equipment replacement and decommissioning.