Development of a Robotic System to Examine Outer Cylinder of Pipes in Steam Generators

Li Min; Ya Nan Zhang; Zhen Bang Gong

doi:10.4028/www.scientific.net/AMR.228-229.38

Paper Titles

Research and Development of Intelligent Design System for Machine Tool Fixture Based on KBE
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Low Temperature Anti-Cracking Performance of Brucite-Fiber-Reinforced Asphalt Concrete
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The Light-Sensitive Character of WO₃ Nanorods Synthesized by the Hydrothermal Method
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Preparation of Spherical NiO Nanoparticles by the Thermal Decomposition of NiC₂O₄ 2H₂O Precursor in the Air
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Development of a Robotic System to Examine Outer Cylinder of Pipes in Steam Generators
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Phase Field Simulation of Parameters Affecting Dendrite Growth in a Forced Flow
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The Identification Analysis for Macro Distributions Curves of Functionally Graded Materials Properties Based on Materials Components
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The Meshing Property Analysis of the New Sine Gears
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A New Computational Model about Vehicle’s Sliding Resistance Coefficients
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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 228-229Development of a Robotic System to Examine Outer...

Development of a Robotic System to Examine Outer Cylinder of Pipes in Steam Generators

Abstract:

The examination of outer cylinder of pipes in steam generators is difficult to fulfill due to confined space. A robotic system has been developed to do the job. The robot contains a base, four rotary balls, a slide guide, two steppers, a DC motor, a positioning mechanism, a synchromesh belt mechanism, a longitudinal mobile platform, an extending and retracting mechanism, a rotary platform and a micro vehicle. The positioning mechanism can locate and fix the robot efficiently. The motion of the robot consists of longitudinal motion and transverse motion. The extending and retracting mechanism can push and pull the micro vehicle carrying a micro CMOS camera. The pose of the camera mounted on the movable platform of a micro 3-CSR parallel mechanism can be adjusted by 3 bias-two-way SMA actuators. The control system consists of two levels of computers. The user interface was developed with VB. Fuzzy control method is utilized to control the motion of the longitudinal mobile platform. Grey evaluation method is applied to evaluate the status of checked areas according to obtained images. Experiment results indicate that the robot has met the needs of examination.