Design, fabrication, and control of a robotic wall-crawler for remote inspection operations

A prototype wall-crawler for remote inspection operation was designed and fabricated for use in a constrained hazardous environment. The transporter was designed to carry inspection sensors to detect weld flaws in reactor and containment vessels and had to withstand elevated temperature and radiation exposure. Other design parameter considerations included limitations on size and operation in an inert environment. The transporter was programmed using a language developed for several in-house robotic systems.