Radiation-resistant robotic manipulator controlled by 6-DoF haptic control device to perform technological tasks in hot cells

Abstract

The paper describes the results of developing a radiation-hardened robotic complex including the following original constituting elements: A robotic manipulator with a 2-finger gripper, a 6-DoF control device with force feedback, control software. The implementation of rotational motion of joints of the robotic manipulator through coaxial gear shafts resulted in its high resistance to ionizing radiation of up to 107 Gy. The control device features high ergonomics similar to that of mechanical master-slave manipulators. The control software has a modular structure and contains both original and the state-of-the-art program components. A prototype of the robotic complex was built which demonstrated the capability of performing typical technological operations in a demo hot cell in both manual and automated modes.