Two compact robots for remote inspection of hazardous areas in nuclear power plants

Abstract

Two mobile robots for the inspection of radioactive areas in nuclear power plants are described. Robicen III is a compact pneumatic robot of 3 kg designed for the inspection of radioactive cylindrical tanks. With a novel locomotive mechanism based on pneumatic actuators and suction pads, it is able to climb vertical walls at speeds close to 110 mm/s. MonoCaRob is a rail-guided autonomous robot for inspection in the drywell of BWR power plants. Copper rails and brushes provide a rugged and robust means for power supply and communications. A video camera and a variety of sensors can be carried by the robot during drywell inspections.