The MYRRHA remote handling systems

All MYRRHA maintenance operations on the machine primary systems and associated equipment are performed by remote handling. The overall constraints require that the remote handling system concept meets some specific requirements. 

A remote handling system based on the Man-In-The-Loop principle implemented with two bi-lateral force reflecting servo-manipulators working under Master-Slave mode has been recommended. The slave servo-manipulators will be commanded by remote operators using kinematically identical master manipulators supported with closed cycle TV (CCTV) feedback. The manipulators will have additional robotic capabilities to maximise operational capabilities.

The slave manipulators will be positioned close to the task environment by means of remotely controlled transporters with sufficient reach and degrees of freedom to position the slaves at all relevant locations around the machine. The concept relies on the ability of the servo-manipulators and the video feedback systems to create a sense of presence for the operators at the task location. The remote manipulators and transporters will have computer controlled features which will enhance and simplify the operations. The proposed remote handling concept is capable of performing all primary tasks on the machine and also a range of secondary and recovery tasks required to support the operation of MYRRHA.

A tray transfer system is implemented in the MYRRHA hall which serves all three purposes of tools storage, tool transfer and small component transfer to and from the task area. The sets of tools and components required for a task will be sorted and tested by personnel working through the glove ports provided. The items will be loaded onto a tray which will be transferred to the task area in the MYRRHA hall by means of a carriage which moves on floor mounted rails.

The main lifting system will be a gantry mounted crane. The crane hook will be able to reach all points in the hall floor area and down to the bottom of the Pb-Bi vessel. An additional 2000 kg jib crane which can move along the main crane beam independently of the main crab is envisaged to be installed on the main crane. This is provided specifically to facilitate the removal of experimental devices whilst the beam line is in situ. It will also be available for general lifting operations in support of the main crane.