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Title

Evaluation of modular robot system for maintenance tasks in hot cell

AuthorsPagala, Prithvi Sekhar; Ferre, Manuel ; Orona, L.
KeywordsTele manipulation
Remote handling
Reconfigurable
Heterogeneous
Modular robot
Issue Date2014
PublisherElsevier
CitationFusion Engineering and Design 89: 2309- 2313 (2014)
AbstractThis work assesses the use of a modular robot system to perform maintenance and inspection tasks such as, remote flexible inspection, manipulation and cooperation with deployed systems inside the hot cell. A flexible modular solution for the inclusion in maintenance operations is presented. The proposed heterogeneous modular robotic system is evaluated using simulations of the prototype across selected robot configuration to perform tasks. Results obtained show the advantages and ability of the modular robot to perform the necessary tasks as well as its ability to adapt and evolve depending on the need. The simulation test case inside hot cell shows modular robot configuration, a two modular arm to perform tele-operation tasks in the workspace and a wheeled platform for inspection collaborating to perform tasks. The advantage of using re-configurable modular robot over conventional robot platforms is shown. © 2014 Elsevier B.V.
URIhttp://hdl.handle.net/10261/102639
ISSN0920-3796
Appears in Collections:(CAR) Artículos
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