核電廠用機器人的應用
RICA機器人
核電廠用機器人技術發展至今，其主要有下列的應用 [1~7]：
1.關鍵核設施的維護、除役及放射性廢棄物處理，如：對蒸汽產生器、反應爐壓力容器等的檢查、保養、維修，以及除役反應爐的封存、掩埋或拆卸，輻射廢棄物處理等作業。
2.核事故處理與救援，即利用移動式機器人，攜帶各式設備，進入事故現場，開展事故處理、調查與救援相關工作。
3.核電站安全性的全面監測，即利用機器人，依任務需求，攜帶各種先進感測器，對核電站內的核輻射強度、氫氣濃度、煙霧濃度、關鍵設備及管道的破損情況等進行監測，以即時發現問題。
[1] Humphrey C M, Adams J A. “Robotic tasks for chemical, biological, radiological, nuclear and explosive incident response,” Advanced Robotics, 23(9), pp.1217–1232, 2009.
[2] Wang K D, Yan G Z, Yan B. “Passive compliance control of a weld inspection manipulator for intersecting pipes,” Advanced Robotics, 23(12/13), pp.1579–1599, 2009.
[3] Iborra A, Pastor J A, Alvarez B, et al. “Robots in radioactive environments,” IEEE Robotics & Automation Magazine,10(4), pp. 12–22, 2003.
[4] Bogue R. “Robots in the nuclear industry: A review of technologies and applications,” Industrial Robot, 38(2),pp. 113–118, 2011.
[5] Wang L Q, Wu J R, Liu Y L, et al. “Design and kinematics analysis of a robot for nuclear steam generator servicing,” Robot, 31(1), pp 61–66, 2009.
[6] Liu C A, Xu S, Liu C Y, et al. “Research on kinematics simulation of maintenance and inspection robot in nuclear power plants,” Journal of Huazhong University of Science and Technology:Nature Science Edition, 36(z1), pp. 23–26, 2008.
[7] Zhang B, Zhao M Y. “Analysis of a master-slave radioactivewaste disposing robot,” Machinery Design & Manufacture (4), pp. 76–77,2003.
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