Title :
Design, fabrication, and control of a robotic wall-crawler for remote inspection operations
Author :
Adsit, Phillip D. ; Crane, Carl D. ; Gamble, Dale R. ; Ridgeway, Shannon C. ; Tosunoglu, Sabri
Author_Institution :
Dept. of Mech. Eng., Florida Univ., Gainesville, FL, USA
Abstract :
A prototype wall-crawler for remote inspection operation was designed and fabricated for use in a constrained hazardous environment. The transporter was designed to carry inspection sensors to detect weld flaws in reactor and containment vessels and had to withstand elevated temperature and radiation exposure. Other design parameter considerations included limitations on size and operation in an inert environment. The transporter was programmed using a language developed for several in-house robotic systems
Keywords :
flaw detection; industrial robots; inspection; mobile robots; nuclear reactor maintenance; pressure vessels; constrained hazardous environment; containment vessels; control; design; fabrication; inspection sensors; reactor vessel inspection robot; reactor vessels; remote inspection operations; robotic wall-crawler; weld flaws detection; Fabrication; Inductors; Inspection; Mechanical engineering; Prototypes; Radiation detectors; Robot control; Robot sensing systems; Temperature sensors; Welding;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1995., Proceedings of the 1995 IEEE IECON 21st International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-3026-9
DOI :
10.1109/IECON.1995.483342
