Sealed Type Three Piece Master Slave Manipulator Modular Design

Brief Description

Sealed Type Three-Piece Manipulator is an advanced version of MSM. It is modular in design such that its slave arm can be remotely assembled and disassembled in the hot cell. Unique feature of the manipulator is its sealed construction, which provides total isolation of the cell atmosphere from the outside atmosphere. The master arm and the slave arm can be removed or installed on the through tube without breaking integrity of the cell and prevents the leakage of contamination from hot cell to outside. The sealing integrity is maintained even after the removal of the master arm or the slave arm. Three electrically powered motions are provided on the major joints of the manipulator to enhance the range of the equipment.

Features

• Sealed Through Tube
• Detachable Master and Slave Arms
• Can be remotely assembled and disassembled
• Counterbalancing
• Motorized Indexing Motions and control

Motion transmission

Within the master and slave arms, cables are used for motion transmission. Any motion on the master is converted to rotary motion with the help of cables, pulleys and rope drums. The motions are then transmitted from the master to the slave side with the help of rotary shafts in the Through Tube.

Specifications

The manipulator has 20 kg load carrying capacity. The slave arm has a reach of 3.3 m from its shoulder joint.

Application

Remote handling of radioactive materials in hot cells

Contact:

Head, Technology Transfer & Collaboration Division,
Bhabha Atomic Research Centre,
Trombay, Mumbai - 400 085
Email : headttcd@barc.gov.in