Abstract
This paper focuses on the design upgrade of existing scanner of gantry radial arm robotic system for corrosion inspection on wall reactor of a TRIGA tank. The scanner design will be used for under water inspection environment verification. This inspection can be performed by using ultrasonic C-scan that will be designed in this project. This gantry radial arm system is a modular design that allows upgrading, easy dimensional matching and, specifications related to kinematic and technique. The gantry radial arm system is expected to be user-friendly. SolidWorks software was used to design the prototype of the gantry radial arm. Most of the components are made from Aluminium which is much sturdy and low cost. Meanwhile for the rod holder system, spring mechanism was used to prevent rod from bending when it moves down into the water. The test results show that the system designed is safe to be used, as it has been proved by simulation and calculation.
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