TY - GEN
T1 - Underwater wall climbing robot for nuclear pressure vessel inspection
AU - Rodriguez, Hernando E.Leon
AU - Sattar, Tariq
AU - Shang, Jianzhong
PY - 2008
Y1 - 2008
N2 - The paper describes the development of an underwater teleoperated wall climbing robot that can carry another pipe crawler robot to nozzle openings inside a nuclear pressure vessel CPV). The wall climbing robot is positioned over each nozzle in the pressure vessel via teleoperation using visual feedback. The pipe crawler robot then transfers into the nozzle where it non-destructively tests circumferential welds located at a distance of 700mm from the inside walls of a pressure vessel. The results of trials with the robot in water tanks and a mock-up of the PV are presented. The paper describes the performance of the two underwater wall climbing robot prototypes, with emphasis on the design of a highly manoeuvrable robot and the performance of a special design of suction cups that have a low coefficient of friction and permit motion in cylindrical pressure vessels.
AB - The paper describes the development of an underwater teleoperated wall climbing robot that can carry another pipe crawler robot to nozzle openings inside a nuclear pressure vessel CPV). The wall climbing robot is positioned over each nozzle in the pressure vessel via teleoperation using visual feedback. The pipe crawler robot then transfers into the nozzle where it non-destructively tests circumferential welds located at a distance of 700mm from the inside walls of a pressure vessel. The results of trials with the robot in water tanks and a mock-up of the PV are presented. The paper describes the performance of the two underwater wall climbing robot prototypes, with emphasis on the design of a highly manoeuvrable robot and the performance of a special design of suction cups that have a low coefficient of friction and permit motion in cylindrical pressure vessels.
UR - http://www.scopus.com/inward/record.url?scp=83455239623&partnerID=8YFLogxK
U2 - 10.1142/9789812835772_0073
DO - 10.1142/9789812835772_0073
M3 - Conference contribution
AN - SCOPUS:83455239623
SN - 9812835768
SN - 9789812835765
T3 - Advances in Mobile Robotics - Proceedings of the 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008
SP - 605
EP - 612
BT - Advances in Mobile Robotics - Proceedings of the 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008
PB - World Scientific Publishing Co. Pte Ltd
T2 - 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008
Y2 - 8 September 2008 through 10 September 2008
ER -