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This paper presents the design and operation of an autonomous robot for pyroprocess automation, which requires unique approaches beyond those used in industrial applications to achieve the desired performance. Maintaining an extremely dry atmosphere is crucial to handle various materials, including chloride, and an autonomous system ensures this dry environment. The drying room dehumidifier was carefully selected and designed to generate dry air, and different types of dry air conditioning performance were evaluated, including assessing worker accessibility inside the mock-up to determine the system’s feasibility. Containers used for process materials were modified to fit the gripper system of the gantry robot for automation. The loading and unloading of process materials in each equipment were automatically performed to connect the process equipment with the robotic system. The gantry robot primarily operated through macro motion to approach waypoints containing process materials, eliminating the need for precise approach motion. The robot’s tapered jaw design allowed it to grasp the target object even with imperfect positioning. Robot motions were programmed using a robot simulator for initial positioning and motion planning, and real accuracy was tested in a mock-up facility using the OPC platform.

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참고문헌 (13건) : 자료제공( 네이버학술정보 )

참고문헌 목록에 대한 테이블로 번호, 참고문헌, 국회도서관 소장유무로 구성되어 있습니다.
번호 참고문헌 국회도서관 소장유무
1 DESIGN AND CONSTRUCTION OF AN ADVANCED SPENT FUEL CONDITIONING PROCESS FACILITY (ACPF) 미소장
2 Next Generation Drying Technologies for Pharmaceutical Applications 미소장
3 Simulation of air movement in a dryer by computational fluid dynamics: Application for the drying of fruits 미소장
4 Current Status of Pyroprocessing Development at KAERI 미소장
5 A neuro-fuzzy decoupling approach for real-time drying room control in meat manufacturing 미소장
6 Conceptual Design of a Pilot-Scale Pyroprocessing Facility 미소장
7 Development of Demonstration Facility Design Technology for Advanced Nuclear Fuel Cycle Process 미소장
8 Model-based energy analysis of a dry room HVAC system in battery cell production 미소장
9 Tecnomatix Plant Simulation 미소장
10 Ultrathin Superhydrophobic Coatings for Air‐Stable Inorganic Solid Electrolytes: Toward Dry Room Application for All‐Solid‐State Batteries 미소장
11 Proceedings of International Conference on Informatics in Control Automation and Robotics 미소장
12 Evaluating Human-Robot Interaction during a Manipulation Experiment Conducted in Immersive Virtual Reality 미소장
13 A conceptual advanced pyroprocess recycle facility. 미소장

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