The ISOLDE robots upgradeJL GRENARD EN-HEISOLDE Workshop and Users meeting 15-12-2014

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Content• Overwiew of the target area

• Motivations for the change

• The differents solutions evaluated

• The installation and commissionning

• Futur evolution of the system

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The ISOLDE facility

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What do the robots do?• Exchange of the targets of the ISOLDE facility

• The robots are part of the process of the facility

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Interfaces of the facility

Front End Storage shielded sleves

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Motivation for change• Obsolete controls leading to unacceptable

failure rate• No remote recovery options

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First idea: robot mounted on an AGV

Not retainedIn case of failure all the electronics is

onboardNo easy remote recovery!

Autonomous vehicle- Battery powered- Onboard controller- Navigation system integrated for positioning

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Solution adopted

Two industrial robots mounted on a linear axis

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How to decide between those options

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Some reasons for the selected solution

• Safe robot technology integrate safety volume -> no need to add extra sensors for protecting the infrastructure

• No electronics in the hazardous area

• Possible to customise

• Displacement of an electronic board outside of the radioactive area

• Replacement of all the cables with radiation tolerant ones

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Full scale mock up testing• Testing of the system including recovery

methods

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3D simulations and automatic programming

• Dedicated simulation software which automatically generates the code

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Old robots dismantling

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The installation• Needs of drilling around 200 holes in the concrete

• Around 10t of new equipement installed

• 1.2 km of cables installed

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Programming and testing• Final setup of the

overall system

• Thanks to the mock up testing and the 3D simulation only minor adjustement were needed

• Precision and repetability as expected

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Work in the target area• Several mSv/h at several

point of work

• Cost in term of dosimetry 13.4mSv

• Shared between ~90 workers

• Worksite executed over 16 months

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The new configuration

New robots characteristics- Lifting capacity : ~30kg at full speed

- Reach of the arm: 2.23m

- Precision: 0.5mm

- Max linear speed: ~2m/s used for the target exchange at only 10% of the speed capability

CERN system integration- mechanical, software, trajectories

- Interfaced with the access system, storage shelves, front end

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Aditionnal refurbishment• Shielded storage

sleves

• Front End coupling tables

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Evolution of the system• In 2015 installation of a 3rd robot for

MEDICIS

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Final system in the coming years

3D animation

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Thanks to all the teams involved in this work

• EN/HE: M. Czech,• DGS/RP: A. Dorsival, C. Saury, M. Deschamps, J. Vollaire• EN/STI: R. Catherall, T. Stora, AP. Bernardes,

S. Marzari, J. Lendaro, M. Di Castro, C. Mitifiot, M. Vagnoni, M. Owen, C. Lemesre, D. Phan, B. Crepieux

• EN/CV: A. Polato, M. Battistin, A. Sabri, N. Roget• EN/MME: S. Atieh, JP. Brachet, P. Mesenge, A. Porret• EN/EL: P. Lelong, R. Necca• EN/MEF: A. Pardon, M. Arnaud, M. Bonnet• BE/OP: P. Fernier• GS/ASE: E. Sanchez Coral, F. Valentini, D. Chapuis, B. Morand, L. Hammouti• ….

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Questions ?