THE REPLACEMENT OF THE ISOLDE ROBOTS
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Transcript of THE REPLACEMENT OF THE ISOLDE ROBOTS
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Remote manipulations / diagnostics in radioactive areas and handling of radioactive material Workshop,
Geneva, Switzerland 6th May 2013
THE REPLACEMENT OF THE ISOLDE ROBOTS
JL.GRENARD (CERN)Engineering Department / Transport Group
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The ISOLDE facility
JL GRENARD EN-HEISOLDE: Isotope Separator On Line
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What do the robots do?
Exchange the targets for the ISOLDE facility
The robots are part of the process of the facility
Weight ~26Kg
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The target area
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Key target positions and movements
High Resolution Separator(HRS)
General Purpose Separator (GPS)
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Interfaces of the facility
Front end Storage shielded shelves
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A need for a ‘’robot’’ why?
Dose rate when exchanging the targets-> several Sv/h in contact Repetitive task -> ~30 targets per year Well defined environment -> target area
designed for this dedicated task
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The existing robots
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The environment Several Gray/year Obstacles on the GPS line
Ventilation duct, pipes on the celling
Vacuum chamber
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Reason of the replacement
Many breakdowns during the last years The robots are 20 years old -> will not be
supported by the robot manufacturer in the coming years
The facility will evolve : new storage, new targets types, improvement of target life cycle
No flexibility in the programing of the trajectories of the present robots
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Different options were evaluated
Dedicated manipulator Robot mounted on an Automatically Guided
Vehicle Industrial robot mounted on a linear axisAnd some variant of the previous options…
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Dedicated manipulator
Custom built manipulator mounted on a track system- Possibility to integrate a force feedback- Could be used for other tasks(ie: repair of the front end)
Not retainedCustom built equipment much more complex than
needed
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Robot mounted on an AGV
Completely autonomous vehicle- Battery powered- Onboard controller- Navigation system integrated for the
positioning
Not retainedIn case of failure all the electronic is
onboard
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Industrial robot mounted on a linear axis
Two options
Copy of the existing system-> trench not covered
Robot mounted on a linear axis installed on the celling
-> floor cleared
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How to decide in between those options?
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How to decide in between these options?
Risk analysis as a guideline Experience of the current process
List of failures during operation with the existing system
Machinery directive Standards (human aspect) Facility aspect (protection of equipment installed in the
area)
Upgrade of the facility New risks caused by the robots New risks caused by the change of the process
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Solution adopted 1/2Two industrial robots mounted on a linear axis
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Solution adopted 2/2
Robot positioning based on resolver technology
Foundry arm (already include Viton seals) which makes it partially radiation hard
Safe robot technology which integrate safety volumes -> no need to add extra sensors for protecting the infrastructure
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The gripper
Include recovery method
Sensor feedback for each movement
Collision detection module (with a release function)
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Some modifications
Relocation of an electronic board outside of the radioactive area
Replacement of all the cables
Replacement of all cables supports
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A full scale mock upTesting of the system including recovery methods
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Interfaces with the infrastructure
Sensor feedback of the position for each movement / interface
In the presently installed robots there is no sensor feedback
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Recovery in case of failure
Integrated in the design
All sensors feedback could be overwritten in an expert mode
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Installation
Point to be considered during the design phase as high dose rates -> ALARA Level 3
Collective dose expected : ~10mSv Shielding of the area Use of special tooling
for installation
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Modification of the infrastructure
Rerouting of ventilation duct, pipes and cables trails
Modification of one portion of the robot rail
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Programming of the trajectories
Dedicated simulation software which automatically generates the code
Limitation: depending on the installation some points wouldhave to be adjusted
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Some points to note
A robot could be use for a dedicated task with a well prepared and known environment.
The installation process must be integrated in the design phase
The design of the interfaces (mechanical, sensor feedback) is as critical as the design of the robot itself
Testing of the failures in a mock up installation is the only way to demonstrate the recovery procedures
Keeping the ‘’human’’ in the loop is importantJL GRENARD EN-HE
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Summary
A robot for a dedicated and repetitive task : the ISODLE target exchange
Several solution studied before a final choice
Testing all the failure scenarios
The installation and the commissioning of the robot
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