The design and operational performance of a climbing robot used for weld inspection in hazardous environments

This paper describes the design and performance of a radiation tolerant climbing robot commissioned for inspecting gas duct internals at nuclear power stations. The robot uses a sliding frame mechanism actuated by servo motors for precise positioning of the frame, and pneumatic cylinders for powering the legs. The vehicle can operate at any orientation whilst negotiating compound curves. The vehicle has an interface for tool packages, those described are: a grinding tool and a non-destructive testing tool for ultrasonic weld inspection. The robot is tele-operated with automatic inspection capabilities. Operational techniques and results from completed inspection programmes are detailed