Design of Remotely Operated, Underwater Robotic Vehicle System for Reactor Vessel Inspection and Foreign Objects Removal

원자로 압력용기 육안검사 및 이물질 제거용 수중로봇 시스템의 설계

The remotely operated underwater robotic vehicle system has been required to inspect some objects such as baffle former bolts and remove foreign objects in reactor vessel of nuclear power plant. In this paper, we have designed the remotely operated underwater robotic vehicle system that includes a long reach arm that is composed of 4 joints to remove foreign objects in a narrow space, a camera for visual test, instrument sensors for vehicle positioning, 4 thrusters for underwater navigation of vehicle, and supervisory control system implemented with industrial PC that includes robot simulator that has the functions of real time visualization, robot work planning and etc.