Mechanisms for automated toolhead changing in nuclear steam generator robotics

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dc.contributor.authorMelnyk, Glenn J.en
dc.contributor.departmentMechanical Engineeringen
dc.date.accessioned2014-03-14T21:39:21Zen
dc.date.adate2009-06-30en
dc.date.available2014-03-14T21:39:21Zen
dc.date.issued1993en
dc.date.rdate2009-06-30en
dc.date.sdate2009-06-30en
dc.description.abstractThe design of toolhead changing manipulator is highly dependent on the specific application. The geometry, mobility of the existing system, the toolhead robot interface and the toolhead size and shape all are major factors in the development of an effective solution. The addition of other functional requirements increase the complexity of the design. The platform maintenance functions required in the BWNS problem increased the complexity to a 5 DOF feeding manipulator. This solution, while complex, is an effective and efficient solution to this specific application. The result should be a significant reduction in human radiation exposure and reduced steam generator service time.en
dc.description.degreeMaster of Scienceen
dc.format.extentvii, 80 leavesen
dc.format.mediumBTDen
dc.format.mimetypeapplication/pdfen
dc.identifier.otheretd-06302009-040338en
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-06302009-040338/en
dc.identifier.urihttp://hdl.handle.net/10919/43491en
dc.language.isoenen
dc.publisherVirginia Techen
dc.relation.haspartLD5655.V855_1993.M446.pdfen
dc.relation.isformatofOCLC# 29815536en
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subject.lccLD5655.V855 1993.M446en
dc.subject.lcshNuclear power plants -- Automationen
dc.subject.lcshRoboticsen
dc.subject.lcshRobots, Industrialen
dc.titleMechanisms for automated toolhead changing in nuclear steam generator roboticsen
dc.typeThesisen
dc.type.dcmitypeTexten
thesis.degree.disciplineMechanical Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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