Kinematic and dynamic analysis of a robotic arm working in a liquid Pb-Bi cooled nuclear reactor vessel

Yves Claeys, Koen Huylebroeck, Ben Caers

    Research output

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    Abstract

    This master thesis features a theoretical analysis of the fuel manipulator for MYRRHA. The fuel manipulator is modelled in 20Sim and MatLAB. First, a kinematic motion analysis is done to determine operating space, DOFs, velocities of the joints. Secondly, a dynamic analysis is done to determine the forces in the different joints.
    Original languageEnglish
    Awarding Institution
    • VUB - Vrije Universiteit Brussel
    Supervisors/Advisors
    • Lefeber, Dirk J., Supervisor, External person
    • Vanderborght, Bram, Supervisor, External person
    • Caers, Ben, Supervisor
    Place of PublicationBrussels, Belgium
    Publisher
    StatePublished - 1 Jul 2010

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