DEVELOPMENT OF TELEROBOTIC SYSTEMS FOR REACTOR DECOMMISSIONING .3. DEMONSTRATION SYSTEM

This paper describes the telerobotic system for reactor decommissioning in the scope of engineering demonstration of dismantling radioactive reactor internals of an experimental boiling water power reactor JPDR. The total system consists of a telerobotic manipulator system equipped with a multi-functional amphibious slave manipulator with a load capacity of 25 daN, a chain-driven transport system, and a computer-assisted monitoring and control system. Preceding to the application of the telerobotic system to actual dismantling operation, a mockup test was performed of dismantling the simulated reactor internals of actual-size by the method of underwater plasma arc cutting in order to study the performance of the telerobotic system in a realistic environment. The system was then successfully applied to dismantling the actual reactor internals according to the JPDR decommissioning program.