Manipulator Drivetrain Design
Problem statement
Safe and precise handling of radioactive materials requires manipulator systems that not only meet strict technical standards but also give operators and stakeholders confidence that risks are minimized. The previous design team developed an initial drivetrain and housing, but their prototype failed to achieve the required 900 Nm torque and relied on vertically oriented motors, which the client requested be changed to a horizontal orientation. Ultimately, this made the previous team’s design unsuitable. A redesign is therefore necessary to deliver 900 Nm of torque at 1 rpm, prevent backdriving, and maintain position during power loss, all within an 8.5 7.5 11.5 housing capable of supporting a stationary 1000 lb load. The new system must also incorporate horizontally oriented, removable motors, improved cable management, radiation resistance up to a 1-10^8 rad lifetime dose, and accessibility for maintenance and manual operation. By leveraging technologies such as strain-wave gears (Schulke, 2019) and applying recent findings on radiation tolerance in robotic manipulators (Zhang et al., 2020), this project will build upon prior work to extend development into the manipulator’s shoulder and upper arm. The outcome, a validated drivetrain housing concept supported by a detailed 3D model, functional prototype, and preliminary controls, will ensure safety, manufacturability, and most importantly, client confidence in the system’s reliability, protecting personnel and the client’s mission while providing peace of mind.
Team members
Alexander Laudon – communicator
Heinrich Wurdell – accountant
Samridh Goel – facilitator
Tyler Godfrey – admin
Client
Erik Revier
PAR Systems