Ranger Servicing Nuclear Reactor Control Rods

The following screenshots illustrate the work performed by Dr. Claudio Filippone in considering nuclear reactor control rod servicing using Ranger. Each task is separated in several sections including the main screenshot and alternate views. Click on the thumbnail picture for a full size screenshot.

1) Use the Bare Bolt Tool to release the outer shell housing

South Porthole View

Video Arm View

2) Use Handle Gripper to grasp the outer shell handle

South Porthole View

Video Arm View

 

3) Use crane to lift Ranger, manipulator uses force feedback to safely extricate the outer shell

South Porthole View

Video Arm View

4) Extract the Upper rod holder

South Porthole View

Video Arm View

5) Grasp and begin extraction of a control rod

6) Grasp control rod with translational end effector

Video Arm View

 

Boresight Camera View

 

7) Grasp and begin extraction of a control rod

Notice three separate cameras are used while the rod is extracted. The boresight view, the video arm view, and the right arm camera allow the operator to see the entire beam while extracting.

Boresight Camera View

8) Grab the new rod sleeve

Video Arm View

9) Insert rod into new sleeve using rod translation end effector

Boresight Camera View