Design constraints and features for a robotic system cutting pipelines in nuclear vessels

This paper presents proposals for a robotic system that will be used for pipeline cutting in decommissioning of nuclear plants for freeing nuclear vessels from their concrete frames. Environment characteristics are discussed to determine design constraints that together with operation requirements have brought to design considerations that are used to outline possible system solutions. The presented system is a special service application of robotic systems as due to the peculiarities of radioactive environment and disassembly operations.