Experience in remote-operated decommissioning with electromechanical equipment - 15354

For the Reprocessing Plant (WAK) in Karlsruhe, Germany, Waelischmiller developed remote handling technologies and robotics used for dismantling of several high-activity radioactive storage buildings. The key component in this project is the Waelischmiller system TELBOT^R. The TELBOT^R system has been successfully deployed in dozens of applications based on the customer's requirements and lessons learned. The objectives for this project were to deliver a reliable, high payload manipulator that is deployed on an excavator. The TELBOT^R is a seven degree of freedom manipulator, with a 2.7 meter reach and a payload capacity of 100 kg at full reach. It is modular with selectable drives, arm lengths and joint modules. The motors and gears are located in a base behind the arm. Movements are effected by concentric tubes inside the arm links and concentric bevel gears inside the joints. Consequently, there is no wiring either inside or outside the arm and all axes can rotate freely. High-quality materials such as radiation-, acid- and corrosion-resistant materials and a final surface protective treatment are used in the manufacture of the TELBOT^R. This paper will describe the TELBOT^R system used by the German decommissioning program at Karlsruhe. (authors)