James Fisher Nuclear

Manipulators and Tooling

James Fisher Nuclear has over twenty years of experience in the design, manufacture and commissioning of multi-axis manipulators and associated tooling. It is frequently asked to develop bespoke solutions to meet specific customer requirements and is able to assist its clients in the specification process as well as producing robust designs suitable for a wide range of arduous environments.

Standard Manipulators

JFN has a standard range of manipulator products to meet a variety of common requirements within the Nuclear and Process industries. The ModuMan family includes: ModuMan Link for tank inspections and sludge retrievals; ModuMan Inspector for dextrous confined space requirements; ModuMan Cave for low dexterity demolition and decommissioning activities; ModuMan 100 addressing high payload Through Wall Tube (TWT) installations typically available in process cells where Master Slave Manipulators (MSM) have been utilised.

Common features include:

On arm instrumentation (CCTV/radiation/microphone)
Remote tool change facility (arterial connection system)
Hydraulic fluid options (non-mineral oil)
Enhanced control system (resolved tip motion/teach and repeat/collision avoidance etc)
Data logging
Self-contained deployment system

'ModuMan 100' A heavy duty modular power manipulator, constructed from commercially available actuators, resolvers and sensors. Suitable for horizontal or vertical mounting applications with a high degree of dexterity. Design parameters: (6 degrees of freedom/2.5m envelope/100Kg payload)
'ModuMan Link' A mast mounted, medium duty, multi-link manipulator designed for vertical deployment into tanks, vaults etc. Design parameters: (3 degrees of freedom / 5.0m vertical reach / 4.0m horizontal reach / 360 deg rotation / 60Kg payload)
'ModuMan Cave' A rugged, heavy duty, power manipulator, incorporating a telescopic boom. Ideally suited to deliver reliable operation under extremely arduous physical conditions. Design parameters: (6 degrees of freedom/ 2.0m envelope/200Kg payload)
'ModuMan Inspector' A light duty, highly dexterous, power manipulator. Designed to enable the deployment of remote sensing and measurement equipment. Design parameters: (7 degrees of freedom/2.0m envelope/25Kg payload)
Heavy Duty Master Slave Manipulator (HDMSM) JFRH has developed a heavy duty variant of the commonly used VNE80 machine, incorporating a complete replacement shaft/gear driven slave arm and a power assistance system enhancement to the existing master arm. The new system interfaces with the existing through wall tube assembly. Design parameters: Retracted length: 1.4m Extended length: 3.5m Translation load: 75Kg Wrist load 20Kg

Manipulator Accessories and Tooling

Remote Tool Change Carousel An in cell facility to permit the remote storage and exchange of powered end effectors via multiple Portable Arterial Connection System (PACS) stations.
Mounting Table Multiple manipulators may be remotely mounted and serviced via a common, adjustable in cell support platform.
Decontamination Booth A self contained, remotely controlled facility to enable the decontamination of equipment prior to manual intervention operations.

Electrical Distribution Equipment

In support of its remote handling equipment, JFN has developed a suite of electrical distribution equipment, suitable for remote deployment in high dose radiation environments.