Design and Development of a Dexterous Master Glove for Nuclear Waste Telemanipulation

Florian Gosselin, Mathieu Grossard, Djibril Diallo, Benoit Perochon, Pascal Chambaud

2021

Abstract

The rise of the nuclear industry in middle of the last century required the development of remotely controlled robotic solutions. Researches on radioactivity and its applications were initially performed in gloveboxes and hot cells with which operators can efficiently and safely access dangerous materials at distance using telemanipulators. Owing to the relatively limited variety of the objects used in such environments, and to the fact that they can usually be adapted for remote manipulation, it was possible to efficiently grasp them using purely mechanical or robotic 6 degrees of freedom (DoF) master-slave systems equipped with bi-digital grippers on the slave side and simple handles on the master side. Such solutions, which were perfectly adapted for handling a limited quantity and variety of radioactive material, are however no more sufficient when processing huge quantities of nuclear waste accumulated over time and/or produced at the occasion of dismantling operations occurring decades later at the end of the nuclear power plants lifecycle. The quantity and diversity of nuclear waste require more efficient and versatile systems. To answer this challenge and increase the operators’ productivity, we developed a novel dexterous master-slave system composed of a tri-digital master glove and a remotely controlled three fingers dexterous gripper. This paper presents the design and development of this master hand device. We first introduce its design rationale, then we present its electro-mechanical design, with details on the kinematics, actuators, sensors and controller, and finally its integration in a master-slave system which is used to validate its ability to perform dexterous telemanipulation.

Paper Citation

in Harvard Style

Gosselin F., Grossard M., Diallo D., Perochon B. and Chambaud P. (2021). Design and Development of a Dexterous Master Glove for Nuclear Waste Telemanipulation. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 459-468. DOI: 10.5220/0010577204590468

in Bibtex Style

@conference{icinco21,
author={Florian Gosselin and Mathieu Grossard and Djibril Diallo and Benoit Perochon and Pascal Chambaud},
title={Design and Development of a Dexterous Master Glove for Nuclear Waste Telemanipulation},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={459-468},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010577204590468},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Design and Development of a Dexterous Master Glove for Nuclear Waste Telemanipulation
SN - 978-989-758-522-7
AU - Gosselin F.
AU - Grossard M.
AU - Diallo D.
AU - Perochon B.
AU - Chambaud P.
PY - 2021
SP - 459
EP - 468
DO - 10.5220/0010577204590468