5 June 2018 Radiation-resistant television system for articulated manipulator arm
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The article deals with radiation-resistant television system located on the robot arm and designed for positioning of a gripper, for collecting and retrieving foreign objects (including nuclear fuel element’s fragments) located in the protective chamber of a nuclear power plant. Performing sequential necessary movements by arm, wrist and gripper of the manipulator nuclear fuel element’s fragments or objects are captured. By consecutive movement of arm, and wrist manipulator is moved to the position for the extraction from mine - arm is moved to the zero position, control is performed with the indicator on the control panel. Control of manipulator's components position and lifted objects is also visualized by means of a television system. After that, the manipulator is lifted from the mine of the protective chamber at low speed. The gripper can be replaced if necessary. Three cameras (two on a wrist and one on a forearm) are mounted on the manipulator to overview surrounding environment. The cameras located on the articulated arm have a mechanical angle adjustment. Each camera has individual focal length adjustment to provide sharpness in capture plane. Together the three cameras provide a panoramic view, side view and top view of a captured object. Each camera is equipped with built-in LED illuminators allowing to work without external lighting.
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Radda A. Iureva, Radda A. Iureva, Andrei S. Timko, Andrei S. Timko, "Radiation-resistant television system for articulated manipulator arm", Proc. SPIE 10690, Optical Design and Engineering VII, 106901Q (5 June 2018); doi: 10.1117/12.2306566; https://doi.org/10.1117/12.2306566

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