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

Research output: ThesisMaster's thesis

Authors

  • Yves Claeys
  • Koen Huylebroeck

Institutes & Expert groups

Documents & links

Abstract

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.

Details

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

Keywords

  • MYRRHA, remote handling, fuel manipulator, IVFM

ID: 166556