Discrete event model of the remotely-operable TRU pipe connector

Chemical processes that involve hazardous materials may require remote handling for maintenance, repair, set up of new processes, or break down of existing processes. Remote handling dictates that pipe connections be made using a manipulator and various tools as well as specifically-designed fixtures or remotely accessible connectors. The TRU connector is a well-established, remotely-operable pipe connector. The connecting motion is accomplished via a screw-driven clamping device. Knowing the torque and power required to turn the screw and clamp or unclamp the connector is important for remote applications. An operator must be able to select the proper tool and manipulator to drive the screw and clamp or unclamp the connector. This paper describes an analytical model of the torque and power required to drive a TRU connector and presents the details of a discrete event model of a TRU connector in operation.