Master-Slave Manipulator Maintenance

Six Model A master-slave manipulators are installed in the shielding wall of the Argon Cell to assist in carrying out the following process operations: de canning, charging and discharging the injection casting furnace, pin processing, fuel element assembly and welding, and miscellaneous equipment repair. The Model A manipulator incorporates individually removable master and slave ends. Movement of the master end is transmitted to the slave end via a rotating shaft in a through-the-wall sleeve containing rotary seals to preserve the integrity of the inert atmosphere within the cell. Operation of these manipulators during the past two years has been relatively satisfactory. Repair of the master ends is straightforward, since they can be removed without interfering with operation of the cell. The slave ends can also be removed; however, their repair is more difficult because of the degree of contamination characteristic of all Argon Cell equipment.