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Mobile Robot Worksystem
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Technology entered
9/3/2002
Technology updated
09/19/2002
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| Category : |
Dismantlement > Heavy Equipment > Robotic System |
| Reference # : |
OST No 1799 , DOE/EM-0429
Model No :
ROSIE |
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| ROSIE performs mechanical dismantlement of radiologically contaminated structures by remotely deploying others tools or systems. ROSIE is a mobile platform used to support reactor assembly demolition through its long reach, heavy lift capability and its deployment and positioning of Kraft Predator dexterous manipulator arm. ROSIE is a tethered. 50-m (165-ft) long, robotic system controlled via teleoperation from a control console that is located outside of the radiological containment area. The operator
The system consists of three main components, the control center, the power distribution unit, and the robot, which includes the locomotor and heavy manipulator.
Rosie's design is modular in nature to allow components to be added or removed, yielding several different configurations. The two main modules are the locomotor and the heavy manipulator. The locomotor provides mobility to carry the heavy manipulator to the work area. The heavy manipulator can then deploy tools or smaller more dexterous manipulators from its tip. In this modular concept, the heavy manipulator can be removed from the locomotor allowing other equipment to be deployed from its deck.
Rosie is an electrohydraulic, omnidirectional locomotor platform with a heavy manipulator on its deck. The manipulator boom can deploy a large number of tools for demolition and decontamination. Alternatively, it can carry one or two smaller manipulators for more dexterous work using remotely operated tools. The second-generation Rosie-C, developed by RedZone Robotics, Inc., has been demonstrated at CP-5 for various D&D tasks, including size reduction of reactor shield plugs, horizontal thimble removal, and waste packaging of reactor components and materials. In addition, Rosie-C is providing remote visual support to the Dual Arm Work Platform
Dimensions of Tech Model (LxWxH):
Control Center,
Power Distribution unit,
Robot:
- Locomotor: 14 ft X 6 ft X 8 ft
- Heavy Manipulator: 9.5 ft X 6 ft X 3.5 ft
Weight of Tech Model (lb.):
- Locomotor: 8, 600 lb.
- Heavy Manipulator: 4,300 lb.
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| Title:
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1799-ROSIE.pdf (Posted: 09/25/2002)
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| Description: |
Innovative Technology Summary Report
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