Omnidirectional Robotic Platform for Surveillance of Particle Accelerator Environments with Limited Space Areas

Abstract

Intelligent robotic systems are becoming essential for inspections and measurements in harsh environments. This article presents the design of an omnidirectional robotic platform for tunnel inspection with spatial limitations. This robot was born from the need to automate the surveillance process of the Super Proton Synchrotron (SPS) accelerator of the European Organization for Nuclear Research (CERN), where there is remaining radiation. The accelerator is located within a tunnel that is divided by small doors of 400 × 200 mm dimensions, through which the robot has to cross. The designed robot brings a robotic arm, and the needed devices to carry out the inspection. Thanks to this design, the robot application may vary by replacing certain devices and tools. In addition, this paper presents the kinematic and dynamic control models for the robotic platform.

MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism

“…Similarly, in [ 24 ], a robot is proposed to climb pillars and vertical tubes using wheels that squeeze the inside, that is, the circular or near circular cross section. The OmniClimbers robot [ 25 ] uses omnidirectional wheels of robotic platforms [ 26 ] to inspect flat and convex human-made ferromagnetic structures using magnets. In [ 27 ], the authors present a propeller-type climbing robot for industrial vessel inspection that uses two coaxial upturned propellers (turning in opposite directions to cancel the drag moments) mounted on a mobile robot with four standard wheels.…”

ROMERIN: Organismo robótico escalador basado en patas modulares con ventosas activas

“…De manera similar, en Baghani et al (2005) se propone un robot para escalar pilares y tubos verticales usando ruedas concéntricas que ejercen fuerza sobre el interior del tubo. Por otro lado, el robot OmniClimbers Tavakoli et al (2013) utiliza ruedas omnidireccionales, al igual que muchas de las plataformas robóticas que persiguen la versatilidad y maniobrabilidad de los vehículos holonómicos Prados et al (2021) para la inspección de infraestructuras ferromagnéticas planas y convexas utilizando imanes. En Alkalla et al (2017) los autores presentan un robot escalador para la inspección de embarcaciones industriales que utiliza dos hélices coaxiales invertidas (que giran en direcciones opuestas para cancelar los momentos de arrastre) montadas en un robot móvil de cuatro ruedas.…”

Modelling and Control of Mechatronic and Robotic Systems, Volume II

“…Several papers discuss mobile and autonomous systems. In [6], the kinematic and dynamic modelling, and the design of an omni-directional robotic platform for tunnel inspection is presented. That robot was built with the aim of automating the surveillance of a particle acceleration environment characterised by remaining radiations and spatial limitations.…”