24-03-2014, 10:10 AM
[u Ball-shaped robots to Inspect nuclear power plants
[/u]
Ball-shaped robots to Inspect.ppt (Size: 1.6 MB / Downloads: 31)
NEED OF ROBOTIC SYSTEMS
To perform automated and repetitive work.
Safety of workers and regulation.
Profitibility
ROBOTS USED FOR MONITORING
SIMON-developed in 1990.
MACS-developed in 1996.
UBIB –developed 1996.
ARIES-developed in 1999
BALL SHAPED ROBOTS
Developed by Massachuttus Institute of Technology.
Harry Asada,Fond Professor of MIT.
Designed to efficiently enter the underground pipes.
About the size of an egg.
Inspection is done without digging up the buried pipes.
Signs of corrosion and leakage are detected.
Onboard camera takes images along the pipe’s interior.
Wireless underwater
communications across distances
of upto 100m.
Wireless camera node
A computer module.
Wireless LAN adaptor.
Wired LAN adaptor utilized for connecting image card.
CMOS camera with fisheye lens.
GPS locator.
MATHEMATICAL MODEL
Model was established by using
No rolling slip constraints.
Conservation of angular
momentum.
Algorithm motion planning
Spherical structure offer extra
- ordinary motion properties.
Conclusion
Asada’s ball shaped robot’s system
has a simplicity, which is very
attractive.
For inspecting tight,confined spaces.
Able to withstand a reactor’s environment and can transmit images in real time for within.