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

Volume

1

fYear

1995

fDate

6-10 Nov 1995

Firstpage

110

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IECON.1995.483342

Filename

483342