Mechanical deployment system on aries an autonomous mobile robot
ARIES (Autonomous Robotic Inspection Experimental System) is under development for the Department of Energy (DOE) to survey and inspect drums containing low-level radioactive waste stored in warehouses at DOE facilities. This paper focuses on the mechanical deployment system-referred to as the camera positioning system (CPS)-used in the project. The CPS is used for positioning four identical but separate camera packages consisting of vision cameras and other required sensors such as bar-code readers and light stripe projectors. The CPS is attached to the top of a mobile robot and consists of two mechanisms. The first is a lift mechanism composed of 5 interlocking rail-elements which starts from a retracted position and extends upward to simultaneously position 3 separate camera packages to inspect the top three drums of a column of four drums. The second is a parallelogram special case Grashof four-bar mechanism which is used for positioning a camera package on drums on the floor. Both mechanisms are the subject of this paper, where the lift mechanism is discussed in detail.
- Research Organization:
- South Carolina Universities Research, Clemson, SC (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC21-92MC29115
- OSTI ID:
- 155400
- Report Number(s):
- DOE/MC/29115-96/CO586; CONF-951258-1; ON: DE96003445; TRN: 96:001675
- Resource Relation:
- Conference: 4. national applied mechanisms and robotics conference, Cincinnati, OH (United States), 10-13 Dec 1995; Other Information: PBD: 1995
- Country of Publication:
- United States
- Language:
- English
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