Advanced Master Slave Manipulators


Master-Slave Manipulators (MSMs)
are the most widely used general-purpose remote handling tools in nuclear industry. An MSM consist of two arms: the master arm and the slave arm. The slave arm is usually placed in the hostile area (hotcell) and the master arm in a safe area (operating area). The arms, which are placed on either side of a thick concrete wall, are connected at the top through a through-tube. From the operating area, when the operator moves the handgrip of the master arm, the motion gets reproduced on the tong of the slave arm in the remote area. For the operator to view the hotcell from outside, lead glass shielding window is used.

BARC has developed many models of MSMs with different payloads and ranges. They are used in various hot cells in BARC and other DAE units. Extended Reach Master Slave Manipulator and Sealed Type Three-Piece Master Slave Manipulator are the recent addition to this list. 


 

Extended Reach Master Slave Manipulator (ERM)


Extended Reach Master Slave Manipulator (ERM)
has six independently controlled joints for arbitrary positioning and orienting an object. Power is transmitted from the master arm to the slave arm through a set of stainless steel wire ropes, tapes and a parallelogram mechanism. To reduce the operatorís effort, the manipulator joints are mechanically balanced. The first three axes of the manipulator are provided with electrical indexing motions. Indexing increases slave arm range, improves operator ergonomics, improves viewing and helps in keeping the slave arm horizontal, before inserting it into the hotcell or withdrawing it from the hotcell. Extended reach, which is indexing in the telescopic joint, is provided to increase the slave arm reach, so that the manipulator can be used in larger cells. The 9 kg capacity ERM has a reach of 3.4 m.

Know-how covers detailed engineering drawings and technical documentation for manufacturing Extended Reach Master Slave Manipulator 

Parties with sound financial background and relevant engineering experience along with precision manufacturing and assembly capabilities would be preferred.

Quick View Leaflet 

Detail Technical Brochure

Application Procedure


Three-Piece Master Slave Manipulator (TPM)


Three-Piece Master Slave Manipulator (TPM)
is an advanced version of Master Slave Manipulator developed by BARC. The 25 kg capacity manipulator has three electrically controlled joints, in addition to the six manually controlled joints. All the manipulator joints are mechanically balanced to reduce operatorís effort. Unlike other MSMs, power is transmitted across the cell wall through a set of parallel shafts. Modular design of TPM enables the operator to remotely assemble and disassemble the slave arm inside the hotcell. Another unique feature of the manipulator is its sealed construction, which provides isolation of the hot cell from the outside atmosphere. The sealing integrity is maintained, even during the remote replacement of the slave arm. 

Know-how covers detailed engineering drawings and technical documentation for manufacturing Sealed Type Three-Piece Manipulator.

Parties with sound financial background and relevant engineering experience along with precision manufacturing and assembly capabilities would be preferred.

Quick View Leaflet 

Detail Technical Brochure

Application Procedure


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