Development of a Remote Steel Pipe Cutting Robot System

This paper describes the design of a remote control robot system for hazardous environments such as a severe accident or the dismantling of a nuclear power plant. Occasionally, it is necessary for a robot to carry out the cutting work. We designed the hardware of a robot system and the software arch...

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Bibliographic Details
Published in2018 15th International Conference on Ubiquitous Robots (UR) pp. 103 - 107
Main Authors Shin, Hocheol, Bae, Yeonggeol, Jung, Seungho, Choi, Yourak, Kim, Changhoi
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2018
Subjects
Cutting tools
Feeds
Manipulators
Steel
Task analysis
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DOI10.1109/URAI.2018.8441772

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Summary:This paper describes the design of a remote control robot system for hazardous environments such as a severe accident or the dismantling of a nuclear power plant. Occasionally, it is necessary for a robot to carry out the cutting work. We designed the hardware of a robot system and the software architecture. The system to be developed is composed of a master device, a slave robot, and a mobile platform, as well as a telescopic mast that moves the slave robot to the desired position. The integrating program has a system component control module, a virtual guide implementing module, and egocentric remote control algorithms. In addition, we developed a cutting tool for the robot system and carried out a cutting test of a 2 inch steel pipe with 5 mm thickness.
DOI:10.1109/URAI.2018.8441772