Abstract
Intelligent robotic systems are becoming essential for inspections and measurements in harsh environments. This article presents the design of an omnidirectional robotic platform for tunnel inspection with spatial limitations. This robot was born from the need to automate the surveillance process of the Super Proton Synchrotron (SPS) accelerator of the European Organization for Nuclear Research (CERN), where there is remaining radiation. The accelerator is located within a tunnel that is divided by small doors of 400 × 200 mm dimensions, through which the robot has to cross. The designed robot brings a robotic arm, and the needed devices to carry out the inspection. Thanks to this design, the robot application may vary by replacing certain devices and tools. In addition, this paper presents the kinematic and dynamic control models for the robotic platform.
Highlights
One of the most significant problems in underground tunnels is the survey of the proper performance of the security sensors available all along the whole corridor
The result of the work presented in this paper is an omnidirectional robotic platform, whose first prototype still does not count all the required sensors for autonomous surveillance
Due to the developed tests, it was tested that the robot design comply with the first, third and forth requirements of Section 1, which are related with surveillance time, robot speed and autonomy
Summary
One of the most significant problems in underground tunnels is the survey of the proper performance of the security sensors available all along the whole corridor. Autonomous inspection is understood as the fact that the robot travels through the tunnel without direct control by an operator In such a way, that the robot is able to leave the charging station until the start of the journey, navigate from door to door, cross the door to go from one section to another, and go back to the charging station to charge the batteries. That the robot is able to leave the charging station until the start of the journey, navigate from door to door, cross the door to go from one section to another, and go back to the charging station to charge the batteries In this line, it is expected that the robot will need external sensors, such as cameras, a.
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