The study of telescopic mast

ABSTRACT

The telescopic mast on the mobile robot has been developed in order

to move up and down the monitoring camera stably in the area where

the human access is limited, such as reactor in PHWR ( Pressurized

Heavy Water Reactor ). The neccessity, environments analysis, and

inspection tasks are reviewed and the conceptual design of the mast

has been carried out the operation procedures are simulated using 3D

graphic system. On the basis of these results, the mobile robot with

telescopic mast system is designed in details. The designed telescopic

mast system consists of mobile robot interface unit, camera interface

unit, and telescopic mast unit.

To evaluate validity of designed system, a mast with 16 segments is

fabricated and tested in full scale mock-up. As a result, it was

shown that the transition process between each stage is very smooth

and stable.

In near future, this system will be commercialized and it will be

possibly applied to several industrial sectors, specifically it can directly

replace portable broadcast antenna which is 100% imported.

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CONTENTS

Chapter 1. Introduction 1

Section 1. Overview 1

Section 2. Background 4

Chapter 2. Main discourse 4

Section 1 The State-Of-The-Art Telescopic Mast 4

Section 2 Screw-Type Telescopic Mast Development 27

Chapter 3. Conclusion 54

Chapter 4. References 56

Appendix 58

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BIOBLIGRAPHIC INFORMATION SHEET

Performing Org.Report No,

Sponsoring Org.Reoprt No.

StandardReport No.

IMSSubject Code

KAERI/TR-982/98

Title / Subtitle The Study of Telescopic Mast

Project Manager and Dept.( or Main Author ) Yong Chil Seo (Nuclear Robotics Lab)

Researcherand Dept.

Seung ho Kim("), Byung Soo Kim("), Young Kwang Lee("), Kino Kim("),Suk Yeoung HwangC), Chang Hoi Kim("), Seungho JungC)

Pub. Place Taejon Pub. Org. KAERI Pub. Date 1998. 2. 29Page 98 P. Fig. and Tab. Yes(o) , No ( ) Size 19 x 26 cmNote

Classified Open(o), Outside ( ), Class Report Type Technical ReportSponsoring Org. Contack No.

Abstract

This project aims at developing a robotic system to automatically handle inspectionand maintenance of NPP safety-related facilities in high-level radioactiveenvironments. The mobile robot is designed to be used in the area of primarycoolant system during the operation of Yulsong NPP. Nuclear facilities can beinspected and repaired all the time by use of both the mobile robot. Humanoperator, by teleoperation, monitors the movements of such robots located at remotetask environment via video cameras and controls those remotely generating desiredcommands via joystick.

In this study, We designed the telescopic mast that can be attached with a mobilerobot and appropriate to radiation hardened. Also, the developed system will beapplied to the other area, such as broadcast antenna mast.

Subject Keyword( About 10 Words)

Mast, Telescopic Mast