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

Yves Claeys; Koen Huylebroeck; Ben Caers

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

Yves Claeys, Koen Huylebroeck, Ben Caers

LBE Components and Experiments

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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 language	English
Awarding Institution	VUB - Vrije Universiteit Brussel
Supervisors/Advisors	Lefeber, Dirk J., Supervisor, External person Vanderborght, Bram, Supervisor, External person Caers, Ben, Supervisor
Place of Publication	Brussels, Belgium
Publisher	VUB - Vrije Universiteit Brussel
State	Published - 1 Jul 2010

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Kinematic and dynamic analysis of a robotic arm working in a liquid Pb-Bi cooled nuclear reactor vesselFinal published version, 5.45 MBLicense: Unspecified

Cite this

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

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.",

keywords = "MYRRHA, remote handling, fuel manipulator, IVFM",

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AU - Huylebroeck, Koen

A2 - Caers, Ben

N1 - Score = 2

PY - 2010/7/1

Y1 - 2010/7/1

N2 - 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.

AB - 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.

KW - MYRRHA

KW - remote handling

KW - fuel manipulator

KW - IVFM

UR - http://ecm.sckcen.be/OTCS/llisapi.dll/open/ezp_109193

M3 - Master's thesis

PB - VUB - Vrije Universiteit Brussel

CY - Brussels, Belgium

ER -