Abstract
Nuclear energy is one of the most important clean energy on earth presently. The steam generator secondary side is the key device of nuclear power station. As an important branch of special robot, nuclear robot is the most convenient and effective mean to inspect the steam generator. This paper describes one robot system which could help users inspecting tubes and locating the robot inside the steam generator. The main part of this system is a climbing robot which can move inside the steam generator carrying a PT or telescopic arm. Four cameras are installed on the robot and PT to send real-time videos back for analysis. Experiments show that this system works stably and the localization is accuracy and effective.
Highlights
As one of the most important branches of robotics, climbing robots have been studied well and extensively applied in various fields since the first climbing robot was designed by Nashi [1]
We develop an intelligent robotic system which includes a climbing robot with cameras which can transmit the videos of tubes in real time and it can
The steam generator secondary side is the key device of a nuclear power station
Summary
As one of the most important branches of robotics, climbing robots have been studied well and extensively applied in various fields since the first climbing robot was designed by Nashi [1]. Climbing robots can be divided into categories according to how each stick on the wall. Magnetic adhesion was widely applied in climbing robots, and many robots have adopted this method [2]. In the early 1990s, a climbing robot that moves on the wall based on a vacuum chunk was built up by researchers from Japan and the USA [3, 4]. In recent years, climbing robots that can move on special materials such as cloth and trees were created. CLASH [6] is the first robot that could move on cloth, and Clothbot [7] is the first wheel robot for climbing on cloth. Treebot [8, 9] can climb on the tree with its two claws
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