Experimental Study of Tele-Operation Devices for the Remote Handling System in a Pyroprocessing Facility

Tele-operation manipulators applied in this paper are systems for the remote handling and management of pyroprocessing related facilities in an Argon cell of the KAERI (Korea Atomic Energy Research Institute). Generally, these kinds of systems are composed of a master-slave system and its peripherals installed along the wall of the cell, with the master transmitting the user?s own motion to the gripper directly. This study introduced various considerations and modifications to improve the remote handling performance. The analysis of an operator's ability using his/her own upper arm motion range while manipulating the MSM, and considerations of its manipulation margin and the related tool modifications are also included. Finally, the test results of several remote handling tasks are presented, and an adequate operation strategy for the tele-operation system of hot-cell type facilities is proposed.