The purpose of this report is to support two previous reports for the investigation of SSTs for deployment of the LDUA system. Field trips were performed to gather specifics for future deployment of the LDUA in Tank 241-A-105. Currently, the system is in design and is subject to change however, the LDUA or robotic arm will be deployed through a 12-in. The LDUA system consists of a mobile deployment system (MDS), a vertical positioning mast (VPM), a tank riser interface confinement (TRIC), the LDUA, and a controller subsystem or support trailer.
The functional requirements of the LDUA system are mapping and characterization of waste in Hanford single-shell tanks (SST) before and during waste retrieval. and a maximum horizontal reach of 13.5 ft. The robotic arm is deployed vertically with a maximum vertical reach of 63 ft.
The light-duty utility arm (LDUA) is a seven-joint stainless steel robotic arm with a payload capacity of 75 lb.
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