Remote manipulator systems for pyroprocessing facility application

In this paper we describe remote manipulator systems for use in pyroprocessing facilities where direct access to an in-cell by human workers is not possible because of the toxicity of argon gas. These remote manipulator systems can be classified into two types, i.e., a BDSM (Bridge transported Dual arm Servo-Manipulators) and a Telemanipulator, depending on the environment they are installed in. The BDSM is an electrically driven manipulator, whereas the Telemanipulator is a mechanically driven manipulator. The remote manipulator systems of the BDSM and Telemanipulator were developed and installed in the pyroprocessing facilities at the Korea Atomic Energy Research Institute, and are currently in use for remote operation and maintenance work of processing equipment and auxiliary devices for pyroprocessing technology development. We present the developments, installation and in-situ operation of remote manipulator systems.