Robotic virtual manipulations of a nuclear hot-cell digital mock-up system

• Published in: Assembly automation Vol. 31; no. 1; pp. 17 - 28
• Main Authors: Kim, Kiho, Park, Byung-Suk, Kim, Ho-Dong, Hassan, Syed, Yoon, Jungwon
• Format: Journal Article
• Language: English
• Published: Bingley Emerald Group Publishing Limited 01.01.2011
• Subjects: Algorithms; Application programming interface; Assembly; Automation; Design; Design engineering; Digital mockup; Geometry; Haptics; Industrial robots; Inventors; Manipulators; Manufacturing engineering; Mapping; Radioactive materials; Robotics; Simulation; Software; Task complexity; Tasks; Training; Virtual environments; Virtual reality; Visualization; Sensors; Virtual work; Simulation; Robotics
• ISSN: 0144-5154; 2754-6969; 1758-4078; 2754-6977
• DOI: 10.1108/01445151111104137

Purpose - Hot-cells are shielded structures protecting individuals from radioactive materials. The purpose of this paper is to propose a design approach for a hot-cell simulator using digital mock-up (DMU) technology and combining Haptic guided complex robotic manipulation for assembly tasks in a virtual environment.Design methodology approach - The principal reason for developing a simulator was to explore the feasibility of hot-cell structure design and collision-free assembly process. For this, a simulation design philosophy has been proposed that includes DMU facility offering the ability of analyzing the operations and performing complex robotic manipulations in the virtual hot-cell environment. Furthermore, enhanced Haptic mapping for tele-manipulation is proposed for training and guidance purposes.Findings - From the analysis and task scenarios performed in virtual simulator, the optimal positions of the manipulators and need of (bridge transport dual arm servo-manipulators) type were identified. Operation tasks were performed remotely using virtual hot-cell technology by simulating the scenarios in the DMU reducing the overall operation cost and user training. The graphic simulator substantially reduced the cost of the process and maintenance procedure as well as the process equipment by providing a pre-analysis of whole scenario for real manipulation.Originality value - This research tries to contribute to the virtual hot-cell design philosophy. Tele-operated complex robotic operations in DMU technology are performed in virtual hot-cell. The simulator provides improved Haptic guidance with force and torque feedback enhancing the realism of virtual environment.