Mobile robot for power plant inspection and maintenance
An all-terrain, mobile robot (called SURBOT-T) has been developed to perform remote visual, sound, and radiation surveillance within contaminated areas of nuclear power plants. The robot can be equipped with a two-armed, telerobotic manipulator system to perform remote maintenance work. The SURBOT-T vehicle has a double-articulating track base that is capable of climbing 45-deg slopes and stairs and over 16-in.-high obstacles. The overall size of SURBOT-T is 28 in. wide by 38 in. long with the front and rear tracks raised and 52 in. high with the camera lowered. With the tracks in a level position, the base provides a sturdy work platform and can ascend/descend stairs without fear of tipping over. The track can be pivoted straight down to elevate the base 14 in. and pass through water up to 24 in. deep. All motors, amplifiers, computer boards, and other electronic components are contained within a sealed housing. The color television camera, spotlight, and directional microphone are mounted on a pan/tilt, which is attached to an elevating mechanism that has 8 ft of vertical travel. An air sampler, radiation detector, and temperature/humidity probe are mounted on the vehicle. The slave manipulator arms on the vehicle can be teleoperated using master arms that are attached to a portable stand near the control console. They can also be taught to perform motions or tasks by computer control much like robot arms in the automated manufacturing industry.
- OSTI ID:
- 5862010
- Report Number(s):
- CONF-881011-
- Journal Information:
- Trans. Am. Nucl. Soc.; (United States), Journal Name: Trans. Am. Nucl. Soc.; (United States) Vol. 57; ISSN TANSA
- Country of Publication:
- United States
- Language:
- English
Similar Records
SMART: A modular architecture for robotics and teleoperation
Mobile teleoperator research at Savannah River Laboratory
Related Subjects
210800 -- Nuclear Power Plants-- Economics
22 GENERAL STUDIES OF NUCLEAR REACTORS
220900* -- Nuclear Reactor Technology-- Reactor Safety
42 ENGINEERING
420203 -- Engineering-- Handling Equipment & Procedures
AMPLIFIERS
CAMERAS
CLEANING
CONTAINMENT
CONTAINMENT SYSTEMS
CONTROL SYSTEMS
DECONTAMINATION
ELECTRONIC EQUIPMENT
ENGINEERED SAFETY SYSTEMS
EQUIPMENT
INSPECTION
LABORATORY EQUIPMENT
MAINTENANCE
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MOTORS
NUCLEAR FACILITIES
NUCLEAR POWER PLANTS
PERFORMANCE
POSITIONING
POWER PLANTS
RADIATION PROTECTION
REACTOR MAINTENANCE
REMOTE HANDLING EQUIPMENT
REMOTE VIEWING EQUIPMENT
ROBOTS
SURVEILLANCE
TELEVISION CAMERAS
THERMAL POWER PLANTS