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[en] This paper describes a remote controlled dual arm manipulator system cutting a still pipe at high place. Remotely cutting work is one of the tasks with complicated working conditions. An overview and comparison of cutting techniques for piping is given. These include a plasma arc, arc saw, linear-shaped explosive charge, and 'conventional cutting methods' for metal cutting. The dual arm manipulators consist of two LBR iiwa 14 R820's. LBR iiwa is a light weight 7 DOF articulated manipulator that weighs 29.5 kg with a payload capacity of 14 kg, and is able to move precisely with +/-0.1 mm repeatability. It assembles parts delicately and detects external forces using integrated torque sensors
[en] Materials used for steam piping of power plants are exposed to high temperatures and high pressures over long periods of time. As a consequence, forged Grade 91 alloy steel is commonly chosen to meet these demands. However, complicated structures such as a valve body are often machined from large forged blocks resulting in long machining time and the material weight being heavy. Therefore, by manufacturing a valve body with near net technology, both the time and material weight can be reduced. This paper will present 1) a survey of the dimensions of a valve body HIPed to a near net shape, 2) an investigation of the mechanical properties of Grade 91 powder, 3) a comparison of the structure of a HIPed product and a forged product, 4) The machining time and material weight of a near net shaped (NNS) product by HIP compared to a forged product. This paper will illustrate that the NNS product was able to reduce the machining time by 30% and the material weight by 40% less than when machining from a forged product.