Development of a Remote Tank Inspection (RTI) Robotic System.
Fromme C; Knape BP; Thompson B
NIOSH 1991 Feb:197-204
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.
Automation; Safety-research; Radioactive-wastes; Storage-facilities; Waste-disposal-systems; Robotics; Corrosive-materials; Hazardous-materials;
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