Development Of A Remote Maintenance Manipulation Tool In The Pride Ar Cell

This paper introduces a manipulator that is under development as a remote maintenance tool in the argon-filled cell of PRIDE, a nuclear facility. This remote manipulator was designed to be able to operate in areas where other remote equipment such as a mechanical master-slave manipulator or bridge-transported dual servo manipulator cannot reach. The remote maintenance tool can be used to support the maintenance of process and cell equipment. In this paper, the mechanical design and manufacturing of the remote manipulation tool are addressed.