Investigation Robot on Cables
Résumé
The Decontamination and Decommissioning (D&D) Operations take place in hostile environments to the human intervention. In this context, robotic systems are a solution to achieve these operations while minimizing human intervention. Among these operations, the monitoring of lengthwise plant has to be performed in places where the radioactive contaminations make hostile environments. These monitoring operations need to measure several physics parameters in several locations in a precise and safe manner. These repetitive tasks can be made by robots that are simple, small sized and easily adaptable. In this scope, a robotic system on cables has been designed to control and monitor the inside of lengthwise nuclear facilities. In lengthwise installations, the using of cables allows to increase the covered zone of the robots which is an essential quality in such places. Unlike cable-driven parallel robots used in workspaces of 2D or 3D controlled by redundant tensioning motors, the current robot moves in a 1D workspace. Thus a tractors cable controlled by one tensioning motor is used to drive the robot on carrier cables. In this paper, we will describe the first results of this work by bringing out the innovation of our system. Then, we will discuss the perspective to upgrade the actual system whose applications could be perfectly imagined outside the nuclear D&D industry.
Domaines
Automatique / Robotique
Origine : Fichiers produits par l'(les) auteur(s)
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