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Characterizing Successful Robotic Insertion and Removal From a Dry Storage Cask Using Peg-Like Jamming and Wedging Analysis

[+] Author Affiliations
Brendan P. McNelly, Robert Leary, Sean Brennan, Karl Reichard

Pennsylvania State University, State College, PA

Paper No. PVP2016-63634, pp. V06BT06A064; 10 pages
doi:10.1115/PVP2016-63634
From:
  • ASME 2016 Pressure Vessels and Piping Conference
  • Volume 6B: Materials and Fabrication
  • Vancouver, British Columbia, Canada, July 17–21, 2016
  • Conference Sponsors: Pressure Vessels and Piping Division
  • ISBN: 978-0-7918-5043-5
  • Copyright © 2016 by ASME

abstract

This paper describes the derivation and experimental validation of geometric equations that govern insertion and extraction of a robotic inspection system that operates in gaps around vertical dry storage casks. During insertion, a robotic system may become jammed due to unbalanced forces acting on the robot, or wedged due to over-sized robot geometry. The robot must be removable by a tether in the event of power loss. Assuming simplified geometry and a quasi-static approach, the problem is modeled using a two-dimensional representation in which the robot is assumed to be rigid with equal weight distribution and a constant friction coefficient between surfaces. Equilibrium equations are derived from a modified peg-insertion formulation, allowing calculation of the maximum size of the robot and angle of insertion as a function of inspection gap geometry and friction. Experimentation tested the derived relationships using varying robot dimensions in a 1:1 scale mock-up of the overpack-to-canister gap space of a nuclear dry storage container. Experimental data confirmed that the modifications of the typical peg-insertion predicted successful insertion and extraction better than unmodified equations. The error between the model and experimentation had a mean and standard deviation of 4.4 and +/− 0.53 degrees.

Copyright © 2016 by ASME
Topics: Robotics , Storage

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