Prototyping High Mobility Inspection Robot

Abstract

Accelerator components are susceptible to failure, requiring personnel to identify and perform maintenance. A high-mobility reconnaissance robot can enter the tunnels to identify issues to decrease personnel exposure to radiation and improve beam delivery efficiency. This report details the process of designing a robot to complete such a task. The research and development robot nicknamed “RD” uses a rocker-bogie suspension to navigate uneven terrain and ascend stairs. RD also possesses high mobility with omnidirectional wheels, permitting ease of movement in confined spaces. The new robot underwent prototyping, testing, and research to evaluate the effectiveness of climbing stairs with omnidirectional wheels mounted to a rocker-bogie suspension. The RD prototype uses 3D printing for rapid testing and simplified electronics. The results from prototyping affect the full-scale robot's design and guide it toward the most optimal configuration.