Full Content is available to subscribers

Subscribe/Learn More  >

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
  • 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


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



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In