Experimental Verification of Hydraulic Robot for Remote Handling of HLNW
Abstract
The objective of this research project is to experimentally verify the dynamic response of a 3-link hydraulic robot and to compare the results with those from an on-line prediction technique. The data were collected through strain gages and rectangular rosettes mounted on each link. Lagrange polynomials are used in a computer program which translates the strain gage readings into end effector displacements. The static and dynamic response of the end effector to loading conditions was experimentally measured and computed simultaneously. Results compared favorably with experiments. When robotic devices are used in the remote handling of High Level Nuclear Waste (HLNW), the method described above could provide immediate feedback as to the exact position and the motion of the canister handling devices.