Design, Modeling, and Analysis of Robotic Manipulator for Welding of Nuclear Spent Fuel Cask Lid

Our project deals with the welding operation, where the welding operation of the Nuclear Spent Fuel Cask is performed manually, which involves several risk factors. Our challenge is of designing the robotic manipulator for welding operation in a limited workspace hazardous environment that involves radiation exposure. A robotic manipulator is designed and modeled in SOLIDWORKS CAD software for an application of circular welding on the Spent Fuel Cask Periphery, which is similar to the orbital welding for large pipes used nowadays. The end-effector is also designed and modeled with its mount so that weaving motion can be performed easily. A detailed design with its stress analysis has been performed to get the performance of the robotic manipulator without any structural failure.