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Robot
Design
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- The purpose of the robot was the transportation
of nuclear fuel rods.
- The robot had to operate within a
specified natural frequency range.
- Pre-defined cartesian tests had to
be performed to test the electric motor
capacities.
- An ADAMS model of the robot was built
incorporating full flexibility and motor
compliance.
- Model analysis was performed on the
robot to obtain the mode shapes and
eigenvalues.
- The motion output of the robot was
known.
- Inverse kinematic analysis was performed
on the robot to determine the required
electric motor input motions and torques.
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Overhead Crane
Design
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- A crane was designed to position and
remove a nuclear reactor head relative
to the reactor main body.
- The failure modes of the crane had
to be analysed.
- An ADAMS model of the crane was built
and simulations of the lifting process
performed. The motion of the reactor
head was investigated under various
crane cable failure conditions.
- The motion of the reactor head was
investigated under various crane cable
failure conditions.
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Inhaler Mechanism
Design
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- A breath actuated in haler was designed
to coordinate the application of the
inhaler gas with the ‘breathing
in’ process.
- The small mechanism had to be designed
for very efficient operation to ensure
robustness throughout its life and also
to prevent jamming occurrences.
- An ADAMS model of the mechanism was
built and positional and friction parameter
studies were performed in order to establish
the operational tolerances of the device.
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