Razvoj daljinski upravljane mobilne platforme za potrebe rezanja cijevi nuklearne elektrane u dekomisiji

master's thesis

• Title (english): Development of a remote-controlled mobile platform for the purpose of cutting the pipes of a nuclear power plant in decommissioning
• Author: Katarina Pavlić
• Mentor: Ivica Galić (mentor)
• Mentor: Danijel Rohde (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-07-21, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; General Mechanical Engineering (Construction)

Abstract

Dekomisija nuklearnih elektrana predstavlja veliki problem u Svijetu. Pojavljuju se problemi
kod načina zbrinjavanja nuklearnog otpada i rušenja građevinskih konstrukcija. U takvoj
opasnoj radnoj atmosferi od velike pomoći pokazali su se daljinski upravljani roboti. Zadatak
diplomskog rada bio je u suradnji s tvrtkom INETEC razviti mobilnu robotsku platformu na
koju se postavlja robotska ruka te koja bi služila za pomoć pri dekomisijskim radovima rezanja
cijevi i skidanja građevinskih dijelova. Prvo su pronađena postojeća rješenja i patenti kako bi
se dobila opća smjernica konstrukcijskom rješenja. Potom su osmišljeni i ocijenjeni koncepti te
je izabran koncept s najvišim ocjenama. Izabrani koncept razrađen je u CAD programu
Inventor. Konačni model sastoji se od četiri podizne gusjenice koje omogućuju kretanje
robotskog sustava u svim smjerovima te ima dodan stabilizacijski mehanizam za dodatnu
sigurnost od prevrtanja.

Abstract (english)

Decommissioning nuclear power plants presents a significant problem worldwide. Issues arise
with the disposal of nuclear waste and the demolition of structural constructions. In such a
hazardous work environment, remotely operated robots have proven to be of great assistance.
The objective of the thesis was to collaborate with the company INETEC in developing a
mobile robotic platform equipped with a robotic arm, which would aid in decommissioning
tasks such as cutting pipes and removing building components. Existing solutions and patents
were initially researched to provide a general guideline for the design solution. Subsequently,
concepts were devised and evaluated, and the concept with the highest ratings was selected.
The chosen concept was further developed using the CAD program Inventor. The final model
consists of four lifting caterpillar tracks that enable the movement of the robotic system in all
directions, and a stabilizing mechanism has been added to enhance safety and prevent
overturning.

• Keywords: dekomisija; mobilna platforma; konstruiranje; detaljiranje; modeliranje; gusjeničar
• Keywords (english): decommissioning; mobile platform; design; detailing; modeling; crawler
• Language: croatian
• URN:NBN: urn:nbn:hr:235:517485
• Study programme: Title: Mechanical Engineering; specializations in: Design, Process and Energy Engineering, Production Engineering, Engineering Modelling and Computer Simulation, Marine Engineering, Industrial Engineering and Management, Materials Engineering, Mechatronics and Robotics, Autonomous Systems; Course: Design; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Embargoed access; Embargo expiration date: 2028-07-31
• Created on: 2023-07-13 09:01:09