6-axis hydraulic manipulator for nuclear decommissioning
A powerful, 6-axis hydraulic manipulator arm designed for use in the nuclear decommissioning industry relies on a motion control system from Moog. The company was approached by James Fisher Nuclear (JFN) for the hydraulic motion system, including modelling and simulating the product design.
A manipulator arm is used to grasp and move materials without direct human contact. Typically a manipulator is an arm-like device with a number of degrees of freedom. They are used to deal with radioactive or bio-hazardous materials, in places that are inaccessible, or for applications such as surgery and in space. In this instance, JFN had identified an opportunity to develop and supply an easy-to-service and durable manipulator arm that assists in the management of nuclear waste stored at various sites throughout the UK.
Moog’s engineering knowledge, control software and servo controller technology ensured the manipulator arm could deliver a 6-axis solution with accurate motion. The arm delivers 100kg lifting capability throughout its reach of 2.3m and accesses radioactive waste through a standard 270mm diameter port. It comes with three operating modes with options for ‘taught paths’ and ‘collision avoidance’. It employs reliable industrial components including resolvers, actuators, servo valves and sensors that are integrated and driven by a sophisticated software controller.
The Moog control system is comprised two MSC II servo controllers, three MSC I servo controllers, two MSD servo drives and motion control software. The system enables shoulder joint rotation of ±130º, shoulder pitch ±90º, elbow pitch of ±130º, wrist rotate ±130º, wrist pitch ±130º, continuous tool rotate and end effector grip width of 0-150mm. All key Moog motion control components are located outside the radiated area.
Matthew Journee, JFN operations manager, comments: “We designed ModuMan around conventional hydraulic actuators coupled with proven industrial instrumentation and control elements to ensure robustness. To ensure maximum maintainability, we also decided to locate vital control elements outside the operating cell. The successful collaboration with Moog helped us to deliver the required product performance. The first ModuMan 100 has been shipped to the end user to commence evaluation and trials at a UK nuclear test facility.”
Moog applications engineer Andrew Smith adds: “We are pleased that our engineers and motion control products successfully assisted James Fisher Nuclear in the product development of the ModuMan 100 manipulator. Clearly two specialities came together. James Fisher Nuclear’s specialty in engineering, manufacturing and technical services for applications within challenging environments or with high integrity requirements and Moog’s specialty in designing and building reliable motion control products proven in extreme environments such as wind energy, oil and gas exploration and steam turbines.”
Visit the Moog website for further information.
