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LUND UNIVERSITY LIBRARIES

Structural integrity analysis of a hydraulic manipulator

Lindborg, Jakob LU (2024) In TFHF-5000 FHLM01 20241
Solid Mechanics
Department of Construction Sciences
Abstract
Fagerstr¨om Industrikonsult AB has created a hydraulic manipulator equipped with a wet
blasting gun for decontamination of radioactive particles from components in nuclear power
plants. Verifying the structural integrity of the manipulator would enable the addition of
a gripper tool, allowing manipulation of components being decontaminated, a feature requested by the industry.
The aim of this master’s thesis is to verify the structural integrity of the manipulator.
Load cases were identified through a dynamic analysis of a representative motion pattern.
Load cases from collision scenarios were also evaluated. With the loads identified, stresses
were determined using a finite element model. Stresses were analysed with respect to
... (More)
Fagerstr¨om Industrikonsult AB has created a hydraulic manipulator equipped with a wet
blasting gun for decontamination of radioactive particles from components in nuclear power
plants. Verifying the structural integrity of the manipulator would enable the addition of
a gripper tool, allowing manipulation of components being decontaminated, a feature requested by the industry.
The aim of this master’s thesis is to verify the structural integrity of the manipulator.
Load cases were identified through a dynamic analysis of a representative motion pattern.
Load cases from collision scenarios were also evaluated. With the loads identified, stresses
were determined using a finite element model. Stresses were analysed with respect to
risk of plasticity and fatigue. Results indicate that the large aluminium sections, which
constitute the majority of the manipulator, are sufficiently strong to handle the target
weight. However, certain steel parts used to connect aluminium sections are at risk of
plasticity, particularly in collision scenarios. The key finding is that if these steel parts are
reinforced, the structural integrity of the manipulator is sufficient, allowing Fagerstr¨om to
proceed with equipping the manipulator with the gripper tool. (Less)
Popular Abstract
Nuclear power plants demand meticulous maintenance to ensure safe operations,
particularly in decontaminating radioactive particles from various components.
Fagerström Industrikonsult AB has addressed this need with their innovative robotic
arm, equipped with a wet blasting gun, which revolutionizes the decontamination
process by eliminating the need for direct human involvement. However, to fully meet
industry demands and allow for the addition of a gripper tool for handling
components, the structural integrity of the robotic arm must first be verified, which is
the objective of the report.
The results were promising yet highlighted specific areas of concern. The large aluminum
sections, which make up most of the arm, were found... (More)
Nuclear power plants demand meticulous maintenance to ensure safe operations,
particularly in decontaminating radioactive particles from various components.
Fagerström Industrikonsult AB has addressed this need with their innovative robotic
arm, equipped with a wet blasting gun, which revolutionizes the decontamination
process by eliminating the need for direct human involvement. However, to fully meet
industry demands and allow for the addition of a gripper tool for handling
components, the structural integrity of the robotic arm must first be verified, which is
the objective of the report.
The results were promising yet highlighted specific areas of concern. The large aluminum
sections, which make up most of the arm, were found to be sufficiently strong to handle lifts
of components and collisions. However, certain steel parts used to connect these aluminum
sections were at risk of undergoing plastic deformation, especially during collision scenarios.
The study found that by reinforcing the steel parts, Fagerström can equip the arm with a
gripper tool for handling of components. This advancement would significantly enhance
safety in nuclear power plants, allowing both decontamination and component handling to be
performed entirely without human involvement.
The study utilized Ansys software to simulate normal operation and collision scenarios. The
arm was then analyzed using finite element methods to determine the stresses involved. To
evaluate the results the Eurocode standards were utilized.
This work was done as a master's thesis at Lunds University in collaboration with
Fagerström Industrikonsult AB. (Less)
Please use this url to cite or link to this publication:
author
Lindborg, Jakob LU
supervisor
organization
course
FHLM01 20241
year
type
H3 - Professional qualifications (4 Years - )
subject
keywords
Structural integrity, hydraulic manipulator
publication/series
TFHF-5000
report number
TFHF-5260
language
English
id
9168421
date added to LUP
2024-06-26 12:59:05
date last changed
2024-06-26 12:59:05
@misc{9168421,
  abstract     = {{Fagerstr¨om Industrikonsult AB has created a hydraulic manipulator equipped with a wet
blasting gun for decontamination of radioactive particles from components in nuclear power
plants. Verifying the structural integrity of the manipulator would enable the addition of
a gripper tool, allowing manipulation of components being decontaminated, a feature requested by the industry.
The aim of this master’s thesis is to verify the structural integrity of the manipulator.
Load cases were identified through a dynamic analysis of a representative motion pattern.
Load cases from collision scenarios were also evaluated. With the loads identified, stresses
were determined using a finite element model. Stresses were analysed with respect to
risk of plasticity and fatigue. Results indicate that the large aluminium sections, which
constitute the majority of the manipulator, are sufficiently strong to handle the target
weight. However, certain steel parts used to connect aluminium sections are at risk of
plasticity, particularly in collision scenarios. The key finding is that if these steel parts are
reinforced, the structural integrity of the manipulator is sufficient, allowing Fagerstr¨om to
proceed with equipping the manipulator with the gripper tool.}},
  author       = {{Lindborg, Jakob}},
  language     = {{eng}},
  note         = {{Student Paper}},
  series       = {{TFHF-5000}},
  title        = {{Structural integrity analysis of a hydraulic manipulator}},
  year         = {{2024}},
}