08-16-2017, 08:41 PM
thesis of hydraulic arm
Abstract:
In this thesis a six degrees of freedom (DOF) water hydraulic manipulator arm prototype is designed and constructed. The manipulator will be used in a development and research of demanding remote handling tasks at the Divertor Test Platform 2 (DTP2) site. Second objective of this thesis is to develop a failsafe and fault tolerant manipulator arm for the reliable maintenance of the International Thermonuclear Experimental Reactor (ITER). Also the benefits of using water hydraulically driven manipulator are addressed. The main focus in this thesis is at the mechanical design of the manipulator. The mechanical design includes the design of the water hydraulic vane actuators and the mechanical design of the manipulator arm. The wrist part of the manipulator was designed and constructed earlier. Finite element method was used in the structural validation of the design. The development and the construction of water hydraulic manipulator arm were successfully carried out. The designed vane actuators have shown decreased friction and internal leakages compared to the earlier designs. The manipulator arm prototype will provide valuable data from the remote handling tasks for further developments.