Analysis of the options - rationale for servomanipulator maintenance in future reprocessing plants

The currently available maintenance systems which can be applied, in various combinations, to large-volume in-cell maintenance operations are: (1) contact, (2) overhead cranes, (3) power manipulators, (4) mechanical master/slave manipulators, and (5) servomanipulators. The requirements for reprocessing plant maintenance are reviewed, and the capabilities of remote maintenance systems are described. A basic trade-off analysis of these remote maintenance systems considering reprocessing plant requirements is given. Justification is given for selecting the overhead crane/servomanipulator-based maintenance concept as the option most desirable for future large reprocessing plant maintenance. 23 references, 6 tables.