A hybrid locomotion vehicle for use in remote maintenance of a nuclear power plant is proposed. The vehicle has five leg pairs, each consisting of a supporting leg and a driving wheel. Each leg has three degrees of freedom: leg lifting, wheel revolution, and wheel steering. A combination of these motions with touch sensors, mounted on each wheel for detecting an obstacle, enables flexible locomotion such as stepping over some rises and going up and down stairs in the plant. Two slope sensors, set at orthogonal directions to one another, keep the posture of the vehicle adjusting vertical positions of the legs. The control system, based on a microcomputer, supervises all of these motions. Laboratory tests with prototype vehicles show successful locomotions.
Five-legged vehicle for remote systems in nuclear power plants
Fuenfbeiniges Fahrzeug fuer Fernbedienungssysteme in Kernkraftwerken
1983
8 Seiten, 12 Bilder, 13 Quellen
Aufsatz (Konferenz)
Englisch
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