The in-vessel inspection and repair manipulators

In the event of suspected structural failures of any component located within the vessel, a remotely controlled manipulator will be deployed which has the capability to manoeuvre an Ultrasonic camera for inspection of all accessible areas within the vessel. If a failure is detected then a second remotely controlled manipulator will be deployed to effect a recovery or repair of the failed item.

A first inspection manipulator positions an ultrasonic (US) camera to provide a general overview. It uses a periscope type device comprising a total of three degrees of freedom with just one of the joints, a tilt axis, located beneath the Liquid Metal (LM). For full coverage it is envisaged that there will be two of these devices permanently installed on the MYRRHA machine in 200 mm diameter ports.

The second inspection manipulator positions the camera close to critical components for detailed inspection. The inspections include all components beneath the diaphragm and including particularly within the core after fuel has been removed. It uses an anthropomorphic type device comprising a two link arm moving in the vertical plane attached to a long vertical section penetrating through the lid and the diaphragm. It has five degrees of freedom : Z + yaw (± 90°), pitch (0°-120°), pitch (0°-120°) and roll (± 90°). This device will be deployed as and when required into one of three available 200 mm diameter ports.

The repair manipulator is able to reach the areas beneath the diaphragm and into the core in order to recover debris or to deploy specialised tooling for repair. It uses an anthropomorphic type device comprising a three link arm attached to a long vertical section which penetrates through the MYRRHA lid and the diaphragm plus a gripper. It has eight degrees of freedom. The device will be installed into one of the 900mm diameter ports usually occupied by the in-vessel fuel handling robot.