Grasps of robot manipulator when overloading solid high-radioactive elements and their calculation

Abstract

In this paper considers the problem of simulating two grasping schemes of the robot manipulator, created by the authors for the overload of solid highly radioactive waste of fuel elements. Two schemes, previously proposed by the authors as grasps, are investigated. One - rod, the second - innovative with flexible actuators. For the grasps considered, some results are given: Static calculations for flat grasping models; 3D models of grasp; the strength and rigidity of one 3D model are calculated.