Development of Modular Robotic Design Concepts for Hot Cell Applications

Ahmed Sherif El Gizawy,Ghassan Mousa,Abdulraheem Kinsara,Andrew Gunn

doi:10.4172/2168-9695.1000154

Abstract

The production of isotopes for diagnosis and treatment of cancer patients involves handling and processing of irradiated materials. This process is performed inside heavily shielded workstations termed Hot Cells. A modular robotic design for handling irradiated materials inside hot cells is introduced. The new robotic system is reconfigurable in order to enhance versatility of applications and precision of its tasks. The reliability of the introduced robot control system is assessed using Failure Trees (FT) Methodology. The technology developed in the present work allows for improving productivity and cost effectiveness for production of medical isotopes.

Highlights

The production of medical isotopes, involves handling and processing of irradiated materials
Most of the handling tasks inside hot cells are conducted with the aid of master-slave mechanical manipulators in order to reduce radiation exposure to operators
Parts are fabricated layer-by-layer in thin cross sections from geometries supplied by a computer aided (CAD) model of the part

Summary

Introduction

The production of medical isotopes, involves handling and processing of irradiated materials. Most of the handling tasks inside hot cells are conducted with the aid of master-slave mechanical manipulators in order to reduce radiation exposure to operators. The main objective of the present research is to develop and support modular robotic design concepts to improve task versatility, reduce personnel radiation exposure, and improve productivity and cost effectiveness in production of radioactive isotopes. Kinematics analysis is applied to the design concepts of modular robots It refers to the determination of required joint values and end effector values, as done in path planning. Hookup wire with cross-linked polyolefin insulation is tolerant to a radiation dose of 1 MGy. Structural analysis for strength and failure are conducted using the FEM Simulation of SOLIDWORKS computer aided design and engineering platform

Design for manufacturing and assembly

Conclusions