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), Vol. 57; Conference: Joint meeting of the European Nuclear Society and the American Nuclear Society, Washington, DC, USA, 30 Oct - 4 Nov 1988
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS
42 ENGINEERING
NUCLEAR POWER PLANTS
REACTOR MAINTENANCE
RADIATION PROTECTION
ROBOTS
PERFORMANCE
AMPLIFIERS
CONTAINMENT SYSTEMS
CONTROL SYSTEMS
DECONTAMINATION
ELECTRONIC EQUIPMENT
INSPECTION
MANIPULATORS
MOTORS
POSITIONING
REMOTE HANDLING EQUIPMENT
REMOTE VIEWING EQUIPMENT
SURVEILLANCE
TELEVISION CAMERAS
CAMERAS
CLEANING
CONTAINMENT
ENGINEERED SAFETY SYSTEMS
EQUIPMENT
LABORATORY EQUIPMENT
MAINTENANCE
MATERIALS HANDLING EQUIPMENT
NUCLEAR FACILITIES
POWER PLANTS
THERMAL POWER PLANTS
220900* - Nuclear Reactor Technology- Reactor Safety
210800 - Nuclear Power Plants- Economics
420203 - Engineering- Handling Equipment & Procedures