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EnglishA teleoperated tracked vehicle for inspecting the inner wall of a RFX machine is presented in this paper. It must enter the toroidal chamber of the machine and check the condition of the graphite tiles using a vision system based on a CCD camera. The design of the vehicle has taken into account many requirements imposed by the critical environmental conditions. The encumbrances problems have been faced and solved by off-line simulating the vehicle motion by means of a robotic simulator integrated with a CAD system. The insertion of the vehicle through a port of the chamber has also been off-line simulated in a virtual environment, in order to solve many of the related problems during the design phase.
| Titolo: | A teleoperated tracked vehicle for inspection inside a RFX machine |
| Autori: | |
| Data di pubblicazione: | 2015 |
| Abstract: | A teleoperated tracked vehicle for inspecting the inner wall of a RFX machine is presented in this paper. It must enter the toroidal chamber of the machine and check the condition of the graphite tiles using a vision system based on a CCD camera. The design of the vehicle has taken into account many requirements imposed by the critical environmental conditions. The encumbrances problems have been faced and solved by off-line simulating the vehicle motion by means of a robotic simulator integrated with a CAD system. The insertion of the vehicle through a port of the chamber has also been off-line simulated in a virtual environment, in order to solve many of the related problems during the design phase. |
| Handle: | http://hdl.handle.net/11390/1083971 |
| ISBN: | 9783952417355 9783952417355 |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
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