Long-Reach Articulated Robots for Inspection and Mini-Invasive Interventions in Hazardous Environments: Recent Robotics Research, Qualification Testing, and Tool Developments

摘要

The Interactive Robotics Laboratory of CEA LIST is in charge of the development of remote handling technologies to meet energy industry requirements. This paper reports the research and development activities in advanced robotics systems for inspection or light intervention in hazardous environments with limited access such as blind hot cells in the nuclear industry or the thermonuclear experimental Tokamak fusion reactor. A long-reach carrier robot called the articulated inspection arm (AIA) and diagnostics and tools for inspection or intervention are described. Finally experimental field tests are presented and actual challenges in modeling the robot's flexibilities are discussed. ? 2011 Wiley Periodicals, Inc.