Kinematic and dynamic analysis of a robotic arm working in a liquid Pb-Bi cooled nuclear reactor vessel

Research output: ThesisMaster's thesis


  • Yves Claeys
  • Koen Huylebroeck

Institutes & Expert groups

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This master thesis features a theoretical analysis of the fuel manipulator for MYRRHA. The fuel manipulator is modelled in 20Sim and MatLAB. First, a kinematic motion analysis is done to determine operating space, DOFs, velocities of the joints. Secondly, a dynamic analysis is done to determine the forces in the different joints.


Original languageEnglish
Awarding Institution
  • VUB - Vrije Universiteit Brussel
  • Lefeber, Dirk J., Supervisor, External person
  • Vanderborght, Bram, Supervisor, External person
  • Caers, Ben, Supervisor
Place of PublicationBrussels, Belgium
  • VUB - Vrije Universiteit Brussel
Publication statusPublished - 1 Jul 2010


  • MYRRHA, remote handling, fuel manipulator, IVFM

ID: 166556