Performance Analysis of Gripper Assembly of an In-Vessel Fuel Handling Machine

This paper deals with the analysis of gripper assembly of a long slender in-vessel fuel handling machine (IVFHM) of a fast breeder reactor towards assessing the behaviour of various kinematic links and joints. Finite element analysis is carried out for two different operating positions viz. gripper assembly freely hanging and gripper resting on sub-assembly (SA) head. Results of analysis are interpreted to understand the kinematic behaviour of various kinematic links and joints. Reactive forces and deformation behaviour of gripper assembly corresponding to freely hanging case and gripper resting on SA case are found out. Role of design features such as special joint between actuator rod and connecting piece to facilitate rotational degree of freedom, hard faced central guide with double curvature is explained. The present study provides valuable information for the design of gripper assembly of IVFHM with increased offset. Role of design features such as spherical guide arrangement for connecting rod, joint between connecting rod and inner tube permitting relative rotation and limited lateral displacement for gripper assembly of IVFHM with increased offset is also discussed briefly.