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Development of a Remote Tank Inspection (RTI) Robotic System.

Authors
Fromme-C; Knape-BP; Thompson-B
Source
NIOSH 1991 Feb:197-204
Link
NIOSHTIC No.
00210421
Abstract
Development of a Remote Tank Inspection (RTI) robotic system for visual inspection of corrosion inside high level liquid waste storage tanks was discussed. Corrosion was attributed to the combined effects of radiation, high temperature, and caustic chemicals. The RTI robotic system featured a vertical deployment unit, a robotic arm, and a remote control console and computer. Riser pipes, 30 centimeters in diameter, provided access to the underground storage tanks. A five degree of freedom robotic arm provided 1.8 meters of articulated reach to accurately position a high resolution video inspection camera to examine the tank walls. The vertical deployment unit provided 5.8 meters of servo controlled extension. The robotic arm was able to manipulate several tools including inspection viewing systems, grippers, spray nozzles, or other specialized end of arm tooling. The arm could be flexibly mounted on a variety of platforms or even a mobile base. Its compact, high torque, electric, servo controlled actuators could be reconfigured with different linkages for a customized a robotic arm.
Keywords
Automation; Safety-research; Radioactive-wastes; Storage-facilities; Waste-disposal-systems; Robotics; Corrosive-materials; Hazardous-materials;
Publication Date
19910212
Document Type
Conference/Symposia Proceedings;
Fiscal Year
1991
NTIS Accession No.
NTIS Price
Source Name
Field Screening Methods for Hazardous Wastes and Toxic Chemicals. Second International Symposium, February 12-14, 1991. Sponsored by U.S. EPA; U.S. DOE; U.S. Army Toxic and Hazardous Materials Agency; U.S. Army Chemical Research Development and Engineering Center; U.S.A.F.; Florida State Univ.; National Environmental Technology Applications Corp.; and NIOSH
State
FL;
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