Usability study to qualify a dexterous robotic manipulator for high radiation environments

Abstract

Based at CERN, the European Organization for Nuclear Research, the Large Hadron Collider (LHC) is the world's largest and most powerful particle accelerator. From 2025, the LHC will be upgraded to allow it to achieve a factor of 10 higher luminosity, which increases the rate of collisions, essential for probing new physics phenomena in the future. The route to high luminosity LHC (HL-LHC) involves various detector upgrades and requires significant infrastructure changes. Recent measurements by CERN Radiation Protection, verifying previous calculations by The University of Sheffield (UoS), has raised awareness about the need to restrict human activity in the HL-LHC experimental, construction and maintenance areas due to exposure from high levels of radiation. Examining the case of the ATLAS detector upgrade, the collaborative partnership between UoS and UK industry is developing state-of-the-art robotic instrumentation, capable of tolerating high radiation levels. The main object of this research is a feasibility study with a TRL (technology readiness level) of three, to determine how materials and sub components of dexterous robotic systems behave after exposure to high levels of radiation. This is evaluation uses novel robotic irradiation equipment, techniques and test methods housed in the Birmingham University (UK) Irradiation Facility. One finger of an unmodified Shadow Robot Company “Hand”, a highly dexterous robotic manipulator, was exposed to specific doses of high radiation in a temperature controlled thermal chamber. Cooled by a liquid nitrogen evaporative system, the irradiation system moves samples continuously through a homogeneous proton beam. Movement is provided by a radiation hard pre-configured XY-Axis Cartesian Robot. The methods and techniques developed as a result of this TRL3 research will further aid the application and deployment of robotic and autonomous systems into highly radioactive environments. Based on preliminary findings it has been concluded that finger materials and basic electrical components can tolerate hazardous radiation environments, with careful selection and substitution of a minimal amount of materials, radiation hardness is also possible. Further work is scheduled for the irradiation of a fully instrumented and powered robotic hand to determine working hour tolerance.